The 19 MLAs were suspended on March 22.
The motion, for revocation of the suspension was moved by Parliamentary Affairs Minister Girish Bapat, and passed by a voice vote.
Bapat said the members were suspended till December this year for "indiscipline and lowering the dignity of the House".
"Due to the suspension they could not attend the rest of the budget session, monsoon session and the winter session in Nagpur. The government was of the view that it would not be right to keep away the members from attending the proceedings of the House," he added.
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The opposition had disrupted the House proceedings during the budget presentation on March 18.
The opposition MLAs had displayed banners before Finance Minister Sudhir Mungantiwar as he was reading out his budget speech.
They had sung devotional songs, played cymbals and raised slogans. The budget copies were also burnt outside the House.
The opposition members were demanding farm loan waiver to provide relief to farmers facing problems due to drought, unseasonal rains and lack of good market price for their agriculture produce.