Beniwal, who is also suspended from BJP legislative party, was suspended by the house for one year on April 17 this year.
Raghu Sharma, Chief Whip of the Congress government, moved a proposal to revoke the suspension which was passed by the house at the beginning of 9th session of Rajasthan Assembly here today.
Ten bills of nine universities and one of Rajasthan Advocate Welfare fund (amend) bill-2012 were also introduced in the house.
The house paid homage to former Gujarat Governor Naval Kishore Sharma, who died here on Monday night, former Governor of Uttar Pradesh B Satyanarayana Reddy and former Governor of Goa and Sikkim Kedarnath Sahni among others.
After obituary references, the assembly was adjourned for the day.