On arrival in Johannesburg, Halfpenny underwent a post-flight recovery session with the medical team and will now play a full part in the tour.
Halfpenny will be available for selection against the Cheetahs on Saturday and will still have plenty of time to play his way into the Test team for the three-match series against the Springboks beginning on June 20.
"We are delighted that Leigh has rejoined the group," said tour manager Gerald Davies.
"Having seen the medical team this morning, they have confirmed that Leigh has arrived fully fit and so is available for selection following tomorrow night's game against the Golden Lions."
"It's just great to be back with the team," added Halfpenny.
"I've been working really hard with the Cardiff medical team and they have got me back to full fitness so I am raring to go for the Lions.
"Also, as the youngest player on tour I now have responsibility for Lenny the Lion, so Keith (Earls) officially handed over custody as soon as I walked into the team room!"