Gronkowski was limited to just seven games last season and underwent surgery in January after suffering a torn anterior cruciate ligament against the Cleveland Browns last December.
That injury left quarterback Tom Brady without a target who has over 3,000 receiving yards and 43 total touchdowns to his name in his professional career.
Despite Gronkowski's absence, New England came close to making an eighth Super Bowl appearance last term, losing 26-16 to the Denver Broncos in the AFC Championship Game.
The 25-year-old was forced to miss the Patriots' pre-season organised team activities and mini-camp as he recovered from his surgery.
However, ahead of the team's training camp, Gronkowski has been given the go-ahead to return and will not be placed on the physically unable to perform list.
Revealing the news at his pre-camp press conference, Belichick, mastermind of the Patriots' three Super Bowl titles, hailed Gronkowski's work ethic.
Belichick said: "He's been here. He's been cleared to play.
"Rob's always worked hard. He worked hard as a rookie. He's always worked hard."
The Patriots play their first of four pre-season games versus the Washington Redskins on August 7.
Belichick's men then open their regular-season campaign with a trip to face AFC East rivals the Miami Dolphins on September 7.