The reinstatement was announced Wednesday and made official a day later.
"Football shape, I feel like I'm right there," Robinson said in a conference call with reporters after he was reinstated by NFL Commissioner Roger Goodell. "If I'm not there, I'm close. I feel like I can come in right away and help out."
"The Packers will request a roster exemption, during which time we would see where Koren is in terms of football shape," said Green Bay General Manager Ted Thompson.
In 2006 while with the Vikings, Robinson was arrested in Mankato, Minn., for a number of alleged traffic and alcohol violations after entering a guilty plea a year earlier for a drunken driving offense.
One of the conditions of his probation was that he not drink or have any other legal problems.
He is expected to suit up for the Packers-Denver game Oct. 29.