The Eagles’ attacking talisman played through a groin issue sustained in the warm-up during last weekend’s 2-0 defeat by champions elect Manchester City - their third loss in succession.
Zaha still managed 90 minutes against Pep Guardiola’s dominant side and has had no problems in training ahead of this weekend’s clash at Bramall Lane.
“Absolutely,” Palace boss Roy Hodgson said on Friday when asked if the Ivory Coast international was ready to face Sheffield United, per the South London Press.
“It was only a minor thing which bothered him slightly and maybe even affected him slightly. But it wasn’t affecting him because he was injured.
“I think it was more a question of having felt something, you’re always wondering whether that is something you should take more seriously.
“But it didn’t stop him playing in the game, and it didn’t affect his performance in the game. He has been back right from the very start of training this week and is raring to go on Saturday.”
Defenders James Tomkins and Nathaniel Clyne could also play some part in South Yorkshire after both featuring for Palace’s Under-23s earlier this week.
However, Hodgson remains without the likes of Mamadou Sakho, James McArthur, Nathan Ferguson and Connor Wickham due to injury.
Crystal Palace predicted XI: Guaita, Ward, Kouyate, Dann, Mitchell, Riedewald, Milivojevic, Eze, Townsend, Benteke, Zaha