Davis had been sidelined with a concussion since Week 4.
Davis, 35, is a former first-round pick of the 49ers back in 2006. He spent over nine years in San Francisco before he was traded to the Broncos before the 2015 deadline.
The Redskins later signed Davis to a one-year, $2.4 million contract in 2016 and he returned to Washington on a three-year, $15 million the following year.
Davis will be an unrestricted free agent in 2020.
In 2019, Davis appeared in four games for the Redskins and caught 10 passes for 123 yards receiving and one touchdown.