Thompson (hip) was cleared to participate in Saturday's training camp practice, Tommy Yarrish of the Cowboys' official site reports.
Thompson sat out of practice this past week while recovering from a hip injury, but he was given the green light to return for Saturday's practice. He was a fifth-round selection of the Cardinals in the 2019 NFL Draft and spent the first seven seasons of his NFL career with Arizona before signing a three-year deal with the Cowboys in March. Thompson figures to start alongside Malik Hooker at safety this season, with P.J. Locke (knee) and Markquese Bell providing depth at the position.