Shields and Collins both returned in the second half against the Steelers.
Woodson injured his left collarbone in the second quarter. The injuries to him and Shields left the Packers vulnerable on a scoring drive by Pittsburgh that cut Green Bay's lead to 21-10 at the half.
Woodson attempted to address the team at halftime but became so emotional he couldn't do it.
"I just asked the guys to understand how much I wanted it," Woodson said after the game.
"That's all he could get out," Green Bay linebacker Desmond Bishop said. "He was all choked up, and there was just something about it that motivated all of us."
Woodson was later shown during the telecast attempting to lift his right arm on the sideline, and immediately wincing in pain.
X-rays were negative on Driver's ankle, but he was later ruled out.
"We've been a team that's overcome adversity all year," Packers wide receiver Greg Jennings said, who noted injuries to Woodson and Driver. "Our head captain goes down, emotional in the locker room. Our No. 1 receiver goes down, more emotions are going, flying in the locker room. But we find a way to bottle it up and exert it all out here on the field."
Sanders left with a foot injury and the team said he would not return after making a 13-yard catch early in the second quarter. He was taken off the field on a cart.
Steelers cornerback Bryant McFadden injured a hip in the first quarter but was able to return.
Offensive tackle Flozell Adams injured his shoulder in the opening quarter when teammate Chris Kemoeatu slammed into his back during Collins' 37-yard interception return for a touchdown that gave Green Bay a 14-0 lead with 3:20 remaining. Adams was replaced by Trai Essex at right tackle for a few plays before returning to start the second quarter.
"We have a lot of practice at this type of situation," Packers coach Mike McCarthy said. "And it definitely paid off. No one blinked. ... It was like a heavyweight fight. They had delivered a bunch of blows to us, and we had cut them. Good fighters and good boxers, they keep pounding away at the cut. We knew they would come after us.
"Sometimes it's not as clean as you want, but at the end of the day we're Super Bowl champions."
Information from The Associated Press was used in this report.