Braun is serving a 65-game suspension for his involvement with Biogenesis, a now-closed anti-aging clinic under investigation by Major League Baseball.
Earlier in September, Braun personally called some Brewers fans to apologize for taking performance-enhancing drugs, but had not visited the stadium since July 22.
“He looked good,” Brewers manager Ron Roenicke said, according to the Milwaukee Journal-Sentinel. “I think all the guys were really happy to see him. He was just in to say hi. He misses the game and he misses the guys, so he wanted to come in and say hi.”