Jackson, the reigning NFL MVP, missed consecutive practices in the regular season for the first time in his career. He was held out Wednesday with a knee injury, then missed Thursday when a stomach illness forced him to go home.
But Jackson moved around without limitation during the media viewing portion of Friday's practice. He also wasn't wearing any brace or wrap on either knee.
Jackson had a full practice Friday and is set to start Sunday against the Cincinnati Bengals, coach John Harbaugh said.
"He's good to go," Harbaugh said after Friday's practice.
Jackson was one of 12 Ravens players listed as questionable for the game, however.
As Jackson walked out onto the practice field Friday, he looked at a member of the Ravens' website staff and said, "100 percent, let's do it."
Jackson decided to rest his sore knee Wednesday after consultation with the medical and coaching staffs. He was set to return to practice Thursday before his stomach started bothering him.
"I don't know if he ate something bad or what it was," Harbaugh said. "We all get something like that periodically. It was a strange timing on that whole deal."
Jackson is 3-0 against the Bengals as a starter, completing 71% of his passes and throwing three touchdowns and one interception (106.5 passer rating). He has run for 336 yards against Cincinnati, his most against any team.
While the Ravens would have preferred for Jackson not to miss two days of reps, he kept track of the game plan all week.
"I'm very confident that he'll play well." Harbaugh said.