Palmer has missed the last two games due to a nerve problem in his shoulder. He said Tuesday that his shoulder was improving significantly and was close to 100 percent.
The Cardinals have a bye this week, meaning Palmer won't miss any more of the team's games if he is able to come back against Denver.
Drew Stanton has filled in for Palmer, throwing for 411 yards, two touchdowns and no interceptions while leading Arizona to two wins. The Cardinals are 3-0 overall.
Palmer threw for 304 yards and two touchdowns against the San Diego Chargers in the season opener.
- Ben Estes