Booth skated for 40 minutes before practice, then joined his teammates for the first half-hour, non-contact part of practice.
"It's another step in the process, it's encouraging to see him back and feeling well," Panthers general manager Randy Sexton told ESPN.com on Tuesday. "We just have to take it a step at a time, and hopefully he'll be back soon."
But there is no firm timetable for Booth's return. He'll go at least a week in practice with no contact to make sure he feels OK; the team will re-evaluate from there.
"But he looked sharp today," Sexton said.
Booth began skating on and off about a month ago, at first on his own and then in the last couple of weeks with Panthers coaches. Last week, Booth went to his native Michigan and worked with his skating coach on some technical aspects.
The NHL did not suspend Richards, who was given a major penalty for interference and a game misconduct for intent to injure.
Pierre LeBrun covers the NHL for ESPN.com. Information from The Associated Press was used in this report.