"I'm feeling OK. I've been better, but I'm doing all right," he told host Carson Daly. The "Sucker" singer revealed that he cracked his rib after he took a "a spill on a bike" and suffered "a few other bumps and bruises," too.
"I just want to go ahead and say that, in case I'm not as physically enthusiastic as I usually am. But Blake [Shelton], please don't make me laugh as much, because it kind of hurts to laugh," Jonas joked.
"You're just trying to get sympathy votes on this show. That's all you're doing," Shelton quipped. "It's a big, elaborate plan," Jonas added.
"Well, we're glad you're okay. We're glad you're here. It means a lot to your team," Carson told Jonas.
"Yeah, me too, for sure. Glad to be here. Can't wait to cheer on Team Nick and all the other teams. I'm really happy I'm here today," Jonas responded.
Jonas also shared a selfie from his red seat on The Voice, to let fans know he was back in action.
"Glad you are okay 🙌," one user wrote, while another fan said: "Go team Nick!!!!" A third fan wrote, "Hope you feel better!!! ❤️."
In 2018, Jonas was injured during his "post-show workout" in Mexico; he showed fans a photo of his hand with a bandage on.
"Surprise !!! i am beyond thrilled, honored, excited to be joining @kellyclarkson @johnlegend @blakeshelton next season ~ season 21 of @nbcthevoice! @nickjonas we will miss you," the "thank u next" singer announced on Tuesday, March 30.