The 23-year-old point guard posted the message "I'm back" on Twitter on Saturday, later telling reporters that he was "f'ing excited" to get back onto the court.
"There were a few things I had to clear, but there was no rush on it," he said. "I've been ready to play, but biomechanically we just wanted to make sure everything was good so I wouldn't put myself at risk."
After sustaining the injury in game one of the Finals in June, Irving was initially expected to be out for three to four months but revealed that the Cavs exercised caution over bringing him back into the fold. He added that his minutes on court would initially be restricted but hoped to be back to normal by the New Year.
The Cavs currently have the best record in the Eastern Conference Central Division with 17-7 for the season.