The 25-year-old did come close to featuring though - he was an unused replacement in the opening victory over the Qantas Wallabies at the Suncorp Stadium.
Maitland hasn't played since returning home, missing the Glasgow's opening three wins in the Pro12 that places them top going into round four this weekend.
However that is about to change with Warriors head coach Townsend naming him in the starting XV at full-back for the clash with Zebre in Italy.
Maitland replaces Lions teammate Stuart Hogg, who has a wrist injury, while another member of the touring part to Australia, Ryan Grant, is replaced by Gordon Reid at loosehead.
And Townsend said: "Zebre are a very difficult team to play against and after winning their first game in the league last week they will be full of confidence.
"We have selected a strong squad and we've been pleased with the intensity in training. We welcome back Sean after his involvement with the British & Irish Lions during the summer."