Crosby, who missed the Penguins' season-opening shootout win Thursday night against the Washington Capitals, took to the ice by himself earlier Saturday morning.
The Penguins were preparing for their Saturday night home game against the Anaheim Ducks.
Crosby skated with teammates in practice earlier in the week but wore a yellow noncontact jersey most of the time.
The 29-year-old Crosby is coming off a superlative 2015-16 season that saw him start slowly with just five points in October but finish by playing some of the best hockey of his career. He was named playoff MVP in helping the Penguins to a second Stanley Cup during his tenure with the team.
He then led Team Canada to an undefeated run at the World Cup of Hockey last month, where he led all tournament scorers and was named tournament MVP.
Crosby, who missed significant time during the 2010-11 and 2011-12 seasons recovering from post-concussion symptoms, was diagnosed with a concussion after practice Oct. 7.
Coach Mike Sullivan has said that Crosby will have to go through a full-contact practice before he is cleared to play in a regular-season game.
Information from ESPN senior writer Scott Burnside contributed to this report.