Streater missed the first 11 days of camp while being on the non-football illness list. The Raiders have not disclosed Streater's exact problem.
He spent the past several days conditioning and trying to regain weight.
"He looks good,'' coach Jack Del Rio said. "He looks fresh. ... Good to see him back out there.''
Streater worked his way back into the mix on Sunday and said he didn't feel like all the time off hampered him.
"It's not hard,'' he said. "I was in there working hard with the quarterbacks, trying to learn the plays and not missing a step. I was out here trying to get mental reps. It wasn't like I missed a step. It's just the conditioning part of the game I have to get used to again.''
Streater, 27, was a starter until he broke his foot in Week 3 at New England last season and was put on the injured reserve.
"It's exciting,'' Streater said of new teammates Cooper and Crabtree. "It pushes me harder to come back. It's exciting to see them work hard on offense and be successful. It's a good group of receivers.''
Meanwhile, tight end Lee Smith and safety Brandian Ross returned to practice Sunday after both missed some practice time. Rookie tight end Clive Walford is among those not practicing. He dealt with a hamstring injury earlier in camp.
The Associated Press contributed to this report.