"You could see he was more comfortable," coach Mike Shanahan said. "He was improved over yesterday."
As expected, Shanahan reiterated that he plans to wait as long as possible to announce whether Griffin or backup Kirk Cousins will start.
"We'll get a chance to see how Robert progresses during the week and make a decision, probably on game day," the coach said.
Griffin was officially listed as "limited" in practice. He stretched and made some basic throws during the 20 minutes that the session was open to reporters. He was still favoring his right leg somewhat, but he was able to plant and throw more smoothly than he did on Wednesday.
At one point, Griffin pantomimed taking snaps to the side while Cousins and third-stringer Rex Grossman ran a drill.
"You've got to have a good feeling that he can play at full-strength," Shanahan said. "If he can do that, then he will play."
Griffin has a mild sprain of the lateral collateral ligament in his right knee after getting hit from defensive tackle Haloti Ngata late in regulation in Washington's 31-28 overtime victory over the Baltimore Ravens.
Griffin's status for Sunday could alter offensive coordinator Kyle Shanahan's game plan. If the less-mobile Cousins plays - or even if Griffin plays on a knee that's less than 100 percent - then the Redskins would be expected to rely less on the zone-read option that Griffin runs so well.
"Just the threat of it does help," Kyle Shanahan said. "Hopefully he's healthy enough to play, then you're healthy enough to have the threat of the speed option, also."
Kyle Shanahan said he's yet to see Griffin at full speed this week.
"I think Robert's going to be able to show that he can move well," Kyle Shanahan said. "It's more: Is his knee stable enough, and can he protect himself in there, and is there a risk of further injury?"