"I'm ready. I'm excited. I'm 100 percent. I'm cleared," Palmer told ESPN's Josh Weinfuss on Monday. "I can do everything. I've tested out. Gotten stronger every week, every month, just ready to get going."
Palmer will take part in 11-on-11 drills against a live defense for the first time since tearing his ACL last season in Week 10.
The 35-year-old quarterback said he "actually was cleared weeks ago," but despite his lobbying, coach Bruce Arians and the Cards' training staff took a cautious approach to their starting quarterback.
Palmer sat during previous 11-on-11 drills during OTAs that featured blitzes and only took part in team reps that didn't include a pass rush -- Arians said he didn't trust rookies to be careful around Palmer's knee.
"I feel great," Palmer said. "I probably never worked this hard in my life and I've always worked hard. I feel as fast as I've ever been, as quick as I've ever been, I'm stronger than I've ever been just because I've been going since late November. So, I feel great."