The 27-year-old said that he is pleased to be free of injury for the Eagles' Championship campaign, which begins away at the newly-promoted Peterborough United.
"I feel good and I'm raring to go. There's not been many pre-seasons I've got through without a problem so to be honest after this one I'm confident and I'm looking forward to the season," he told the club's official website.
"If we can start off the season well in the early games, get a few wins and you never know, you take it from there. The confidence will be high and I am looking forward to it all starting again."
Ambrose signed for Palace on a free transfer from Charlton Athletic in 2009 after spells with Ipswich Town and Newcastle United.