It was a step forward for the two defensive starters who both had hip surgery this offseason.
Alonso's surgery was to repair a torn labrum and was performed sometime in January, a league source told ESPN's Adam Caplan. The recovery time for such a procedure is typically four to six months.
Thursday's OTA also saw the return of defensive end Jerry Hughes to team drills after Hughes sat out Wednesday's team drills for unspecified reasons.
Meanwhile, undrafted cornerback Darius Robinson left Thursday's OTA with trainers, holding his left arm. He did not return.
Second-year wide receiver Marquise Goodwin came down hard on his elbow after diving for a pass. He briefly met with trainers before returning to action and finishing the practice.