The International Cricket Council announced on Tuesday that off-spinner Senanayake is permitted to bowl again for his country after being banned for a suspect action in July.
And Sri Lanka Cricket announced later in the day that the 29-year-old will join the squad for the next two ODIs in place of Rangana Herath, who picked up an injury in training.
A short statement posted on the governing body's official website read: "Rangana Herath has been injured at today's practices. Selectors have nominated Senanayake to replace him for the next two ODIs."
Sri Lanka and England next meet on Wednesday in Pallekele.
The hosts lead the seven-ODI series 3-1, after Kumar Sangakkara struck 86 to guide his team to a six-wicket win in Colombo on Sunday.