The 19-year-old winger was given the green light for Hudson-Odoi to train from club medics after a Covid-19 test came back negative.
Hudson-Odoi tested positive for coronavirus in March but has now fully recovered.
It was not certain, however, that he would be allowed to train with his Chelsea team-mates after he was arrested on suspicion of rape.
The 19-year-old has been released on bail after police and ambulance services were called to his home at 4am on Sunday after a row with a glamour model he reportedly had met online.
But despite breaking lockdown regulations and facing more serious charges, Chelsea manager Frank Lampard allowed him to return to training.
He was involved in non-contact training with groups of three to five players. Player were told to arrive in full training kits and only had 15 minutes for any treatment after they finished training. They are only allowed to spend a maximum 75 minutes at the training ground.