His reinstatement comes after Major League Baseball did not obtain a security video that allegedly showed the incident, sources familiar with the situation told ESPN.
Urías, 22, was arrested May 13 after an alleged altercation with a woman in a parking lot of a Los Angeles shopping mall.
MLB and the MLB Players Association agreed to place Urías on paid administrative leave pending the league's review of the video, sources said. Mall officials in possession of the video declined to give it to MLB, and while the league could have pursued a seven-day extension of administrative leave, the union and Urías would not have consented and could have filed a grievance, per the jointly negotiated domestic violence policy.
"They run an extremely thorough process, and after going through it, they made the decision to reinstate,'' Dodgers president of baseball operations Andrew Friedman said. "It's tough for us to elaborate much right now, but one thing we do know is it's not standard for them to reinstate after just the seven days, so that says something to us. We hopefully will know more in the next couple of weeks.''
Urías addressed his teammates for about five minutes in the clubhouse before Tuesday's series opener at Tampa Bay. Manager Dave Roberts and Friedman also were present.
"I think his demeanor is he's happy to be back. He's anxious to get everything behind him,'' Roberts said. "I know he's excited to just get back to playing baseball -- obviously all that's been going on in his life, and getting him back here and focusing on baseball when he's at the ballpark, and just giving him the support that he needs at this point in time."
The league's investigation into Urías remains open, according to sources. Prosecutors have yet to file charges against Urías, and the Los Angeles Police Department still has not released an incident report.
The severity of any potential punishment will depend upon the level of evidence MLB gathers in its investigation. Suspensions under the domestic violence policy have ranged from 15 to 100 games. Two investigations, into Dodgers outfielder Yasiel Puig and Minnesota Twins third baseman Miguel Sano, did not lead to discipline.
The Dodgers are required to abide by the jointly negotiated rules and cannot levy discipline on Urías or keep him from returning to their roster. Los Angeles in 2015 ended its pursuit of closer Aroldis Chapman after a report of a domestic issue that led to a 30-game suspension
Urías, a left-hander who debuted with the Dodgers at 19 years old, has started four games this season, pitched in relief in five and posted a 3.18 ERA with 32 strikeouts in 28⅓ innings.
Roberts didn't rule out Urías from pitching Wednesday night in the series finale with the Rays. He said the Dodgers "certainly expect him to be a factor in that Pittsburgh series'' that starts Friday night.
To make room on the roster, the Dodgers optioned outfielder Kyle Garlick to Triple-A.
The Associated Press contributed to this report.