Robertson, 67, had been suspended from the series after he made the comments in a magazine interview, but many fans rushed to defend his right to express his opinions and his family said they would not return to the show without him.
A&E announced Friday it planned to resume filming later this spring "with the entire Robertson family."
" 'Duck Dynasty' is not a show about one man's views. It resonates with a large audience because it is a show about family ... a family that America has come to love," a statement from the network said.
GLAAD issued a statement Saturday, slamming the decision, saying A&E has "chosen profits over African-American and gay people."
"Phil Robertson should look African-American and gay people in the eyes and hear about the hurtful impact of praising Jim Crow laws and comparing gay people to terrorists," the organization said in a statement. "If dialogue with Phil is not part of next steps then A+E has chosen profits over African American and gay people -- especially its employees and viewers."