Pens head coach Dan Bylsma confirmed Staal's return on Friday, at the same time the club announced the roster move.
"In the last couple days it was just great to get in a couple practices with the rest of the team, just to get back a little timing, and things are looking up," Staal said after practice on Friday afternoon. "Everything feels good."
The 23-year-old has been out of the lineup since January 6, when he was on the wrong end of a knee-to-knee hit from New York Rangers forward Mike Rupp.
A further setback occurred during Thursday's practice, when Staal was clipped by an errant stick in the mouth, requiring several stitches.