It was Johnson's first practice in three weeks.
Johnson has sat out the Lions' last two games, a 17-3 victory over the Minnesota Vikings and a 24-23 victory over the New Orleans Saints. He has 22 catches for 348 yards and two touchdowns this season. He has exceeded 1,000 receiving yards each of the past four seasons.
On Tuesday, it sounded like Johnson's plan is to play on Sunday, but he wouldn't give a definitive answer.
"I'm going to tell you the same thing every week: I'm getting better; I'll tell you that much," Johnson said via Josh Katzenstein of the Detroit News. "Moving around a lot more so I'm feeling good."
The Lions offense has fell from No. 6 in yards last season to No. 24. The team's defense, however, has improved from No. 16 in yards last season to No. 1 this season.
Detroit is 5-2 and has won two straight games.
The Lions play the Atlanta Falcons on Sunday morning in London.