While neither person involved in the accident was seriously hurt, Sanders complained of a headache after the incident.
Both he and the other driver were cited for careless driving.
Broncos executive Patrick Smyth wrote that Sanders was evaluated by trainers and cleared to practice after the accident.
Sanders has already been dealing with a shoulder injury that forced him to miss Saturday's game against the San Francisco 49ers. As James Palmer of NFL Network noted, he returned Tuesday from what wasn't considered a serious injury.
The 30-year-old hasn't dealt with many significant injuries throughout his career, missing just one regular-season game in the last five years. After beginning his career with the Pittsburgh Steelers, he is heading into his fourth year with the Denver Broncos, where he has developed into one of the most consistent wide receivers in the league.
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He has at least 70 catches and 1,000 receiving yards in each of his three years in Denver, earning two Pro Bowl appearances in this stretch.
If he is forced to miss time now, younger receivers such as Isaiah McKenzie and Kalif Raymond could get more playing time.