Tannehill was injured in the final minutes of last Sunday's last-play victory over the New England Patriots.
Despite having his right ankle heavily taped, Tannehill was able to throw the ball and hand the ball off to his running backs during the practice.
Coach Adam Gase said Tannehill "moved around well," and will play at Minnesota "unless something crazy happens," according to the Miami Herald.
However, reserve quarterbacks Brock Osweiler and David Fales also took a considerable number of snaps during the practice to be prepared if Tannehill can't play on Sunday against the Vikings (6-6-1).
The Dolphins (7-6) have won two of their last three games since Tannehill returned to the lineup after missing five games because of a right shoulder injury.
With three games left, Miami is tied with three teams for the final AFC wild-card playoff spot.
Dolphins cornerback Xavien Howard, who has been out because of a left knee injury since Dec. 2, did not practice again and Gase said he is week-to-week.