Josh Weinfuss of ESPN.com first reported the news.
The veteran pass rusher had been absent for almost three weeks for undisclosed reasons. The 36-year-old was charged with drunken driving in late June after police found him passed out behind the wheel of his car in the center of a lane on a suburban Atlanta road.
It was Abraham's third alcohol-related arrest.
Abraham could still face league discipline.
After the arrest Abraham said he was "taking necessary steps" to handle his personal business.
"I am very thankful for the support from my family, friends and especially the Cardinals organization during this time in my life," he said at the time. "I am looking forward to being back with my teammates in the near future."
That future is today.