The defender's case was dropped on Friday after UEFA's independent UEFA Control, Ethics and Disciplinary Body acknowledged the substance he was found guilty of taking should not have been on the banned list, as argued by Sakho's lawyers.
He was handed an initial 30-day suspension back in April after failed a drugs test the previous month after a Europa League clash away at Manchester United.
But after the ban elapsed, the European governing body opting against the chance to extend it, Sakho was left in limbo as he waited to find out whether he would be able to play at the start of the 2016-17 season.
After a few months of uncertainty, the decision was finally made on Friday - just 24 hours after a hearing was held in Paris - allowing Sakho to get back to action.
Given the all clear to resume his career on Merseyside, the centre-back took to Facebook to publicly thank fans for their support over the last few months having protested his innocence throughout.
Sakho, who missed out on a place in France's squad for Euro 2016 as well as last season's Europa League final, declared: "The truth always comes out in the end!"
Defender given green light to return after case is dropped
The 26-year-old, backed by supporters who changed his name at matches, explained that he can "finally express" himself and said "above all" it's "important" that he thanks for fans for their "trust" and "support" that they have been "communicating during those two months and a half."
"You have been there for me," the Frenchman added, inserting the hashtag for the club's anthem You'll Never Walk Alone and saying: "I will always be there for you, giving all my best on the field!"
The defender is reportedly considering legal action for the games he missed while suspended under UEFA's rule, but can at least focus on preparing for the season ahead now he's been made available.
Before then, however, Sakho will undoubtedly rue the fact he will be watching his nation take on Portugal in Paris on Sunday night in the final of Euro 2016 from the sidelines, rather than being a part of Didier Deschamps' 23-man squad.
He added at the bottom of his Facebook post that he wanted "to congratulate my mates" in the national team for their "amazing journey" at the tournament before continuing: "You make us dream, we are bouncing for you! Allez les Bleus, allez la France! #Fiersdetrebleus"
Sakho - who had faced a ban between six months and two years had UEFA ruled against him - could make his first appearance of pre-season when Liverpool travel to Fleetwood Town on July 13.
He missed their opening friendly away at Tranmere Rovers on Friday as Danny Ings' 79th minute strike gave them a 1-0 victory.