The Spaniard was sent off late in the Blues’ loss at Villa Park on Sunday, after appearing to throw his arm in Jack Grealish’s face during a challenge.
Contact seemed minimal but Grealish reacted theatrically, clutching his face and referee Stuart Atwell showed the Chelsea skipper a red card for violent conduct.
It would have meant Azpilicueta was serving a three-game ban early next season, but the ban has now been overturned.
Even if the ban had been upheld, Azpilicueta could have made it to Saturday’s Champions League final against Manchester City, with the suspension only due to apply to domestic matches. Fixtures for the start of the new Premier League season have yet to be published.
Azpilicueta and Grealish were named this week to their respective national teams for this summer’s European Championships.
Azpilicueta is part of a 24-man Spanish squad whose captain Sergio Ramos made headlines when coach Luis Enrique revealed his party this week.
Grealish, meanwhile, is on a provisional list of 33 players which England boss Gareth Southgate will have to cut to 26 by the June 1 deadline next week.