The ride-haling firm decided to take its cars off the road earlier in March following a fatal accident, but with the autonomous vehicles having come under scrutiny from police, lawmakers and federal investigators, they are now set for a return.
Eric Meyhofer, head of Uber's autonomous-vehicle program, explained: "Over the past nine months, we've made safety core to everything we do.
"This required a lot of introspection and took some time. Now we are ready to move forward."
Uber is set to return its self-driving cars to the streets of San Francisco and Toronto.
Earlier this month, meanwhile, Uber lost an appeal relating to the rights of its drivers.
The ride-hailing firm had appealed against an initial ruling that determined its drivers should be treated as workers rather than self-employed.
But that ruling has since been upheld by the Court of Appeal, prompting Uber to say that it will take its appeal to the Supreme Court.
James Farrar, who is chairman of the United Private Hire Drivers branch of the IWGB union, explained: "I am delighted today's ruling brings us closer to the ending Uber's abuse of precarious workers made possible by tactics of contract trickery, psychological manipulation and old-fashioned bullying."