Vick scored on a 5-yard run during the third quarter of the game against his former team.
Making his first appearance of the second half, he replaced starter Donovan McNabb for the third-and-1 play from the Atlanta 5. Vick took the shotgun snap and went straight ahead before diving into the end zone.
Vick, booed in the first half, earned cheers for his first touchdown since Oct. 15, 2006 with Atlanta.
The Associated Press contributed to this report.