William Adams, a judge in Aransas County, Tex., was suspended from his position after the video went viral on the Internet last year. Adams' daughter, Hillary Adams, posted the video of the beating, in which Adams is seen whipping the then-16-year-old for nearly eight minutes.
The video, which was shot in 2004 but not posted until 2011, did not lead to any criminal charges against Adams.
The Texas Supreme Court lifted Adams' suspension last week, according to court documents. He was suspended for nearly a year.
He will resume his position overseeing court cases on Wednesday, according to the Corpus Christi Caller-Times, though he will no longer preside over cases involving violence against children.
"Our law system is actually allowing a child abuser to judge child abusers," Hillary Adams told ABC News affiliate KIII last week, after the suspension was lifted. "They're allowing it to continue in our family law system, after being provided with video evidence he's not fit to be near the family law system. It is sick and disgusting."
Judge Adams' attorneys argued in court that his daughter posted the video because she is bitter over losing his financial support, according to the Associated Press.
Adams could not be reached for comment. Aransas County courts are closed today in observation of Veteran's Day.