Miller suffered the injury catching a pass during a one-on-one drill at Olivet Nazarene.
"He’ll be all right," Nagy said of Miller. "I hope so, at least.”
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Miller walked off the field under his own power and went with team trainers for an evaluation. He didn't return to practice, but as the Bears were working, he took to Twitter with the message: "I'm good." He later deleted that tweet.
The Bears have gone through training camp without any significant injuries to this point. They also had a clean preseason game on the injury front Thursday night.
Miller underwent surgery this offseason to repair a tear in his left shoulder, an issue that lingered during the course of last season. He only missed one game a a result of the injury, which included multiple dislocations in games.
Miller had 33 receptions for 423 yards and seven touchdowns as a rookie in 2018. After sitting out the offseason program, Miller arrived at training camp ready to practice at full speed.
"When you have reservations in your shoulder coming out, I think anybody would be a little hesitant to do what you need to do," Nagy said. "But he's in a good spot. We'll get him right here with his foot. Hopefully it's OK.
"But my thing with him is just mentally, how's he handling digesting? Is he getting better there? And he's been doing that."