Robinson's reinstatement will take effect on Oct. 18, and the Packers will request a roster exemption while he gets in football shape, according to general manager Ted Thompson.
"We understand and appreciate the Commissioner's consideration in this matter," Thompson said in a statement. "It's been a year since we've seen Koren, so our first step is to have him return to Green Bay. ... We are aware how difficult this past year has been for Koren, but the Packers are grateful for the progress he's made, as evidenced by this reinstatement."
Alvin Keels, Robinson's agent, said six-year veteran has been working out in Arizona. He said he expects his client to fly to Green Bay on Wednesday night.
"He's in the best shape of his life," Keels added.
Wednesday was the first day Robinson, 27, was eligible to return from his one-year suspension for violating the NFL's substance abuse policy. He had petitioned for reinstatement to commissioner Roger Goodell.
Robinson's suspension came in the wake of an incident in August 2006 while he was playing for the Minnesota Vikings. Police said Robinson led them on a car chase at speeds over 100 mph, and his blood-alcohol content was found to be 0.11 percent, above the legal limit of 0.08. The Vikings cut Robinson, and he signed a two-year deal with the Packers in September 2006.
Robinson played in only four games before he was suspended.
In February, Robinson was sentenced to 90 days in jail after pleading down to a charge of fleeing police. Robinson also was sentenced to three months in jail for violating probation on a separate drunken-driving case in Kirkland, Wash., last year.
The Associated Press contributed to this report.