Daniels missed last week's loss to Cincinnati after undergoing minor knee surgery.
Daniels' return is a boost for the Ravens, who are already playing without Dennis Pitta, who is out for the season with a hip injury. Cornerback Jimmy Smith is inactive for Baltimore. The Ravens also sat WR Michael Campanaro, S Terrence Brooks, LB Zachary Orr, G Gino Gradkowski, DE Lawrence Guy and G Jah Reid.
Pittsburgh rookie nose tackle Daniel McCullers is inactive. McCullers had played in each of Pittsburgh's past two games. QB Landry Jones, WR Justin Brown, CB Ike Taylor, S Ross Ventrone, CB B.W. Webb and G Chris Hubbard are also inactive for the Steelers.