Hill was hit by cornerback Bashaud Breeland, who was breaking up a pass, and stayed on the ground before eventually hobbling over to a medical tent.
After being examined, Hill was driven off the field, seated in the passenger seat of a cart.
This is Hill being taken off the field with what appears to be a right leg injury. pic.twitter.com/BywVbQW6fp— Adam Teicher (@adamteicher) July 30, 2019
On Sunday, Hill answered questions publicly for the first time since being investigated for child abuse, saying he planned to become a better person from the lessons he learned during a tumultuous offseason.
The NFL recently said Hill would not be disciplined and cleared him to report to training camp after he was suspended from offseason practices by the Chiefs.
Hill, a three-time Pro Bowler, caught 87 passes last season and was fourth in the NFL with 1,479 receiving yards and 12 touchdowns. According to ESPN Stats & Information, Hill averaged 14.95 yards per touch last season -- the highest rate in the league among players with 100 touches.
In attendance during Tuesday's practice was agent Drew Rosenhaus, who was at the Chiefs' camp to discuss a new deal for Hill, a source told Schefter.
ESPN's Adam Teicher contributed to this report.