Rodriguez had missed three games with a strained right quadriceps but passed what he called his "final test" before resuming play, working out in front of manager Joe Girardi and the club's training and medical staff.
"He didn't have any problems," Girardi said. "That doesn't mean I'll play him at third every day, but we'll just go day-to-day and see how he feels."
Rodriguez ran a few patterns in short right field while bench coach Rob Thomson lobbed baseballs toward him, and he later jumped rope and went through medicine ball exercises. He did not speak to reporters after the workout.
Girardi said that he had considered using Rodriguez as the designated hitter on Friday and did not rule out Rodriguez serving as the DH while the club is in Cleveland.
"We told him to be smart tonight," Girardi said. "Don't get too froggy [and] try leaping too much."
The reigning American League Most Valuable Player injured his quadriceps running out a fielder's choice on Sunday in Baltimore and left the club to travel home to Miami on Monday, where he was present for the birth of his second daughter, Ella Alexander. He rejoined the club on Thursday in Chicago.
Rodriguez is batting .308 with four home runs and 10 RBIs in 20 games this season.
Bryan Hoch is a reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.