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The Guinea international missed Saturday's 3-3 draw at Brentford with a foot injury suffered in the midweek Carabao Cup win at Norwich.
On Friday, manager Jurgen Klopp was unsure when Keita would be back in time for the trip to Portugal for their Group B encounter but he joined the full squad for a workout at the club's AXA training ground on Monday lunchtime.
Keita’s Liverpool career has been hampered by injury but he started this season in impressive form, scoring a superb volley against Crystal Palace, before he was hurt against Norwich.
Training today also featured Roberto Firmino, who made his return to action against Brentford after missing four games with the hamstring injury he suffered against Chelsea in the final match before the international break.
Wales right-back Neco Williams, who has been sidelined all season by an ankle injury, also trained before the flight to Porto.
Liverpool opened their Champions League campaign with a 3-2 win over AC Milan despite Klopp making a number of changes to his side, including resting centre-half Virgil van Dijk and giving striker Divock Origi a rare start.