Andrews had missed Baltimore's Week 9 win against the New Orleans Saints with shoulder and knee injuries. It marked the first time in his five-year career that he missed a game because of injury (he missed one game in 2019 for rest ahead of the playoffs and two in 2020 after testing positive for COVID-19).
Andrews returned from the Ravens' bye this week healthier and was upgraded to a full participant in Friday's practice after being limited the previous two days.
His return is welcome news for Lamar Jackson and surging Baltimore. Andrews leads the Ravens, winners of three straight, in receptions (42), receiving yards (488) and touchdown catches (5).
Jackson, meanwhile, was officially questionable for Sunday's game due to illness, but is also active. coach Jim Harbaugh replied Friday when asked if his star QB would be OK to face the Panthers: "Oh yeah."
However, running back Gus Edwards, who was listed as questionable due to hamstring and knee injuries, is inactive for Sunday's game. The Ravens will start Kenyan Drake, who ran for 93 yards and two touchdowns in his last game.
Baltimore leads the AFC North at 6-3.
ESPN's Jamison Hensley contributed to this report.