Reed, who will make $7.2 million in the final year of his contract, has been vocal about wanting a new deal and skipped last month's mandatory minicamp. He didn't speak to reporters as he entered the team's facility around 10 a.m.
There had been speculation that Reed could miss the start of camp after he recently said, "The only way a player gets what he wants is by holding out." But coach John Harbaugh told reporters on Tuesday that he expected Reed to attend camp.
"Ed Reed plans on being here," Harbaugh said. "I talked with Ed. I had a great conversation, and I'm looking forward to seeing him."
Reed, 33, is considered one of the best safeties ever to play in the NFL. His 54 interceptions are the most in the NFL since he entered the league in 2002.
But injuries have limited him to one full season over the past three years, and Reed made only three interceptions last year, his lowest total in a 16-game season.
Reed became the highest-paid safety in 2006, when he signed a six-year, $44.4 million contract.
The Ravens' first full-team practice of training camp is Thursday.