Sensabaugh, who missed the Week 3 victory over Tampa Bay with a calf strain, has missed just two games during his four seasons with the Cowboys.
"I hate missing games," said Sensabaugh, who participated fully in Wednesday's walk-through.
He played in 45 consecutive games before being ruled out for the Buccaneers game last week. Danny McCray replaced Sensabaugh in the lineup.
The return of Sensabaugh adds some depth to a position that was getting thin after starting free safety Barry Church suffered a season-ending torn Achilles in the Tampa Bay game. Rookie safety Matt Johnson is not available because he's still recovering from hamstring and back injuries.
It leaves the Cowboys with Mana Silva, Sensabaugh and McCray as the active safeties on the roster.
Offensive coordinator Bill Callahan said the team hopes center Phil Costa (back) will be available after next week's bye.