Richardson, chosen No. 3 overall by Cleveland, joined starting tight end Ben Watson and a few others riding stationary bicycles as the team went through regular drills on Tuesday.
Both Richardson and Watson, who missed time last season with a concussion, are expected to start Friday in Detroit in the preseason opener.
Richardson has impressed in camp, though he missed practice time last week. Coach Pat Shurmur said the former Alabama standout had a headache that day.