Goldberg was suspended from the program on April 15 for violation of team rules.
"Cameron has done everything I asked him to do in a timely manner," Cutcliffe said. "I appreciate his sincerity and attention to detail while handling this situation. We have fully reinstated him to the program and he will resume off-season conditioning with his teammates immediately."
Goldberg, a 6-6, 280-pound senior from Lutherville, Md., started all 12 games last season at left tackle. He has played in 32 career contests with 23 starting assignments.