Kill had the seizure following the first half of the Golden Gophers' 29-12 victory over Western Illinois after both teams had exited to the locker rooms at TCF Bank Stadium.
A statement released by the school's athletic department said Kill had been transported to a hospital for precautionary reasons before being taken home, where he was said to be "resting comfortably."
"Coach Kill's staff, which is the most tenured in the nation, and his team are well acquainted with his condition and are prepared if a situation like this arises," the Minnesota statement said. "Coach Kill's epilepsy has been documented by both local and national media and our fans are aware that situations like this can happen."
Kill suffered a seizure in the locker room at halftime of last year's season-ending game against Michigan State, as well on the sidelines during a 2011 contest against New Mexico State.