Veldheer has been missing since August thanks to partially tearing his triceps in practice, and has taken a roster spot previously allocated to rookie quarterback Tyler Wilson, who has been waived.
It is possible that Veldheer will see some action when the Raiders take on the Dallas Cowboys on Thursday.
He told the San Jose Mercury News: "I'm feeling really good and fresh. It's an odd thing to feel that way in week 13 of the season.
"But that's something that builds confidence. I'm ready to get back out there and play."
The return of Veldheer is a timely boost to the Raiders, who occupy bottom spot in the AFC West.