Tannehill had missed the past two games with an ankle injury. He was limited in practice Wednesday and Friday but was a full participant Thursday and took part in the Saturday walk-through with no issues.
He had made 49 consecutive starts for Tennessee, a franchise record for quarterbacks, before he suffered the injury in the fourth quarter of a win over the Indianapolis Colts on Oct. 23.
Rookie quarterback Malik Willis filled in for Tennessee in Tannehill's absence, helping to lead the Titans to a win over the Houston Texans in his first career start. He also started last week's game against the Kansas City Chiefs, an overtime loss, when Tannehill was unable to play after testing his ankle during pregame warm-ups.
The Titans head into the matchup against the Broncos with a 5-3 record.