Sullivan, the veteran leader of Minnesota's struggling offensive line, left Sunday's game at Buffalo in the first quarter. He missed Wednesday's practice but returned on a limited basis Thursday.
Right guard Vladimir Ducasse suffered a knee injury on the same play Sunday and didn't return, leaving the Vikings with no healthy backups and Joe Berger and Mike Harris were forced into action. Ducasse was a full participant in Thursday's practice after being limited on Wednesday.
Cornerback Josh Robinson suffered an ankle injury in Thursday's practice and left the field.
The Vikings (2-5) travel to face the Buccaneers (1-5).