"Not worried at all," Palmer told the team's official site Thursday. "We played a late Monday game; it's just an extra day of recovery making sure (the shoulder is) ready for Sunday."
Palmer was 22-of-36 passing for 248 yards with an interception and two touchdowns.
Wide receiver Chad Ochocinco (ankle) and running back Cedric Peerman (illness) also returned to full practice this week.
The Associated Press contributed to this report.