The Titans announced Walker had been cleared Monday before practice.
Walker was signed as a free agent this offseason from San Francisco to replace Jared Cook, who left for St. Louis. Walker had arthroscopic surgery on his left knee after the Titans wrapped up its offseason program and started training camp on the physically unable to perform list.
Whether Walker plays this preseason remains to be seen. The Titans have big plans for the tight end helping block and as a target for quarterback Jake Locker.