It's a remarkable comeback for Pitta, whose dislocated hip was originally considered a season-ending injury in late July. He returned to practice on Nov. 20 and increased his workload in practice this week. On Friday, coach John Harbaugh said Pitta had a "reasonable chance" of playing.
Pitta, the second-leading receiver on last season's Super Bowl team, will provide a boost for quarterback Joe Flacco and the NFL's 29th-ranked offense. Without Pitta, the Ravens have relied on Dallas Clark and Ed Dickson, both of whom combined for 47 catches for 554 yards and three touchdowns.
The Ravens waived running back Bernard Scott to make room for Pitta. Scott hadn't played in a game for the Ravens since signing on Oct. 28.
Pitta's return comes at a critical time for the Ravens (6-6), who currently hold the No. 6 seed in the AFC with four games remaining.
Pitta has been on the injured reserve-designated to return list since dislocating his hip on July 27, the Ravens' first contact practice of training camp. He had 61 catches for 669 yards and seven touchdowns last season.
Pitta said he "felt good" on Friday and was looking forward to getting his first contact of the season.
"You always want to see how you're going to respond after getting hit like that," Pitta said. "It's not something that you could simulate in rehab or even in practice. It will be nice to kind of take that first hit and just see how it feels."