Yankees manager Aaron Boone announced the moves before Tuesday night's game at Tampa Bay. Judge started in right field and batted second against the Rays.
"It's huge, obviously,'' Boone said of Judge's return. "Really excited to have him back. Has been feeling really strong the last few days.``
Both went on the COVID-19 IL on July 16.
Judge and Higashioka took batting practice on Monday's off day at Steinbrenner Field, the Yankees' spring training complex, in Tampa, Florida.
The Yankees (51-47) started Tuesday 9½ games behind American League East-leading Boston and eight back of the second-place Rays.
First baseman Luke Voit, on the IL with left knee inflammation, took batting practice and defensive drills. He is expected back in the next couple days.
"I would say he's very close,'' Boone said. "We'll have a decision here in the next day or two.''
Outfielder Clint Frazier, out since July 1 with vertigo, is undergoing neurological tests in Michigan. There may be an update on his status Wednesday.
"It's a whole battery of neurological testing where he's hitting and throwing and doing all these things,'' Boone said. "I think there's some vision things that they're trying to work through. How he responds to different things.''
Reliever Clay Holmes, acquired from Pittsburgh on Monday, was added to the roster.
Minor league right-hander Yoendrys Gomez was placed on the COVID-19 injured list to open up a 40-man roster spot. He is with Class A Tampa.