The school said in a statement the 84-year-old coach was looking forward to returning to practice Wednesday.
Penn State confirmed on Tuesday afternoon that no surgery was required for Paterno, and that "precautionary measures" were complete.
Paterno was hospitalized Sunday evening after the collision with receiver Devon Smith. He walked away and stayed for the rest of the practice before being encouraged to get checked out by doctors.
The team statement Tuesday did not offer any more details of his injuries. Paterno said in the statement it was time to turn the attention back on the team.
