A statement issued by the school said "precautionary measures" were completed and doctors determined no surgery was required for the 84-year-old coach, who was blindsided by a player running a drill Sunday at the Nittany Lions' practice field.
The coach walked away after injuring his right arm and hip but was hospitalized at Mount Nittany Medical Center as a precaution.
Penn State said Paterno returned to his office late Tuesday morning, worked on practice plans and said he was looking forward to being at Wednesday's practice.
"It's time for everyone to turn the attention to the team," Paterno said. "We have a lot of hard work ahead in order to be as good as we think we can be."
The Nittany Lions open their 125th season Sept. 3 against Indiana State at Beaver Stadium and a week later host second-ranked Alabama.