Rucker was allowed back on the team Thursday after serving eight days in jail for a probation violation. Rucker was initially charged with drunken driving and later plead guilty to a reduced charge of reckless driving.
Michigan State coach Mark Dantonio said Rucker paid team and legal consequences for his poor decision.
Rucker was sentenced to 12 months of probation and 150 hours of community service for assault last year for his role in a fight on campus.
The Spartans were trailing 17-0 when Rucker took the field and quickly fell behind 23-0.