Jackson, who was listed as questionable for Sunday's game, was a full participant in practice Friday after being sidelined the previous two days.
Ravens offensive coordinator Greg Roman said Thursday that Jackson was dealing with "a little back flare-up" but indicated he didn't think it was serious. Jackson moved around well during the media-viewing portion of Friday's practice and didn't appear to favor his back at any point.
This marked only the second time in Jackson's four-year career that he had been sidelined for consecutive practices. He has never missed a game because of an injury.
Jackson is facing one of the NFL's top defenses in Denver. The Broncos have allowed a league-low 8.7 points per game, and linebacker Von Miller was named AFC Defensive Player of the Month with four sacks.
This season, Jackson has been hit an NFL-high 44 times, including 12 times in Sunday's 19-17 win at the Detroit Lions.
Through three games, Jackson has carried the Baltimore offense, leading the NFL in yards per rush (7.2) and yards per completion (14.4). He has produced a league-best four runs over 20 yards and has connected on 14 passes of 20 yards or more, which ranks fourth in the NFL.
ESPN's Jamison Hensley contributed to this report.