Dennard, the No. 24 pick in the 2014 NFL draft, injured his hip during Saturday's 25-17 loss to the Jets.
He told reporters he doesn't think the injury will be a long-term issue.
"I was just running and pretty much felt something coming off the field and talked to the trainers and basically, it was just a smart thing to stop [playing]," Dennard said.
The Bengals play their third preseason game on Sunday against Arizona, and Dennard said he is hopeful he will be able to play.
Cincinnati opens the regular season Sept. 7 on the road against the Baltimore Ravens.
- Paul Palladino