President of basketball operations Donnie Nelson said the ban was lifted after the eight-year veteran met with Nelson and Mavericks coach Rick Carlisle on Tuesday.
After Monday night's preseason win over Houston, Carlisle told reporters West was suspended without offering any details.
West was suspended Monday because of "conduct detrimental to the team."
The former first-round pick by the Boston Celtics has been suspended before. In 2010, he was suspended the first 10 games after pleading guilty to a weapons charge.
The veteran logged 17 minutes in Monday night's 123-104 win over the Houston Rockets. He scored two points and notched two assists off the bench.
West averaged 9.6 points per game in his first season with the Mavericks last year. He played in 44 games -- including 33 starts -- and averaged 24 minutes per game.