Rudolph, 30, played for Yorkshire for four seasons before his contract was mutually terminated in 2010.
London: South Africa batsman Jacques Rudolph has rejoined Yorkshire as an overseas player for the rest of the season as they bid to avoid relegation from the First Division of the County Championship.
Rudolph, 30, played for Yorkshire for four seasons before his contract was mutually terminated in 2010 so he could return to South Africa to be closer to his family as well as his reviving his stalled international career.
He scored a total of 8,629 runs during his impressive first spell at Headingley and never failed to reach 1,000 first-class runs in each season.
He has now received clearance from the England and Wales Cricket Board to rejoin Yorkshire, who are currently eighth in the nine-team First Division and in one of the relegation places.
"Jacques is a hugely respected and popular player and we have missed his contribution in all forms of the game this season," said Yorkshire coach Martyn Moxon on Wednesday.
"The entire club is very pleased to welcome him back and we look forward to his runs lifting the team in the remaining matches," the former England batsman added.