The defender did not feature in the Premier League for the Swans last season and spent three months on loan with Crystal Palace earlier this year.
The 22-year-old told the club's official website: "I went on loan to gain experience and get some game-time so you can return and push for a spot in the team. I don't know if I will go out on loan again, but you never know what can happen during pre-season.
"Just look at Ben [Davies], he was among the best players we had in pre-season last year, and he went on to have a great season. When [Neil Taylor] got injured, Ben went straight in because he had a great pre-season and was fit, sharp and ready.
"That's what it is all about. You go into pre-season, get your fitness in and show the manager what you can do. Then it's up to the manager. So that's what I'm hoping to do."
Richards has two caps for Wales.