Gary Lineker will return to Match Of The Day on Saturday after he was taken off air over his tweets criticising the government’s migration policy.
The BBC has also apologised for the episode and announced an independent review into its social media usage guidelines.
Sky Sports News understands that the BBC also apologised privately to Lineker.
In a series of tweets, Lineker said: “After a surreal few days, I’m delighted that we have navigated a way through this. I want to thank you all for the incredible support, particularly my colleagues at BBC Sport, for the remarkable show of solidarity. Football is a team game but their backing was overwhelming.”
He continued: “However difficult the last few days have been, it simply doesn’t compare to having to flee your home from persecution or war to seek refuge in a land far away. It’s heartwarming to have seen the empathy towards their plight from so many of you.
“We remain a country of predominantly tolerant, welcoming and generous people.”
Lineker also thanked BBC director general Tim Davie “for his understanding during this difficult period”, adding that he had “an almost impossible job keeping everybody happy, particularly in the area of impartiality”.
“I am delighted that we’ll continue to fight the good fight, together,” the former England footballer continued.
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Meanwhile, Mr Davie said: “Everyone recognises this has been a difficult period for staff, contributors, presenters and, most importantly, our audiences. I apologise for this.
“The potential confusion caused by the grey areas of the BBC’s social media guidance that was introduced in 2020 is recognised. I want to get matters resolved and our sport content back on air.
“Impartiality is important to the BBC. It is also important to the public. The BBC has a commitment to impartiality in its Charter and a commitment to freedom of expression.
“That is a difficult balancing act to get right where people are subject to different contracts and on air positions, and with different audience and social media profiles.
“The BBC’s social media guidance is designed to help manage these sometimes difficult challenges and I am aware there is a need to ensure that the guidance is up to this task. It should be clear, proportionate, and appropriate.
“Accordingly, we are announcing a review led by an independent expert – reporting to the BBC – on its existing social media guidance, with a particular focus on how it applies to freelancers outside news and current affairs. The BBC and myself are aware that Gary is in favour of such a review.
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“Shortly, the BBC will announce who will conduct that review. Whilst this work is undertaken, the BBC’s current social media guidance remains in place.
“Gary is a valued part of the BBC and I know how much the BBC means to Gary, and I look forward to him presenting our coverage this coming weekend.”
The BBC’s Board also welcomed the agreement, saying: “Impartiality is a cornerstone of the BBC. We believe this is the right time to look at the clarity of the BBC’s social media guidance and how it is applied.
“We will support the Executive in its continuing work to ensure the organisation delivers world-class, impartial content for all audiences.”
The Board is chaired by Richard Sharp, who previously received criticism for allegedly facilitating an £800,000 loan for Boris Johnson in the weeks before his appointment in the corporation was approved.
But Labour leader Sir Keir Starmer said before the announcement about Lineker’s return that Mr Sharp’s position is “increasingly untenable”.
He said: “I think most people watching the complete mess of the last few days would say how on earth is he still in position and Gary Lineker has been taken off air?
“This is a mess of the BBC’s own making, they need to sort it out and sort it out fast.”
It follows a chaotic few days which saw reduced football coverage across the BBC over the weekend as pundits, commentators and other staff refused to work in protest of Lineker’s removal from the show.
Lineker was criticised by Conservative politicians after comparing the language used in the government’s new asylum policy with 1930s Germany.
On Friday, the BBC announced Lineker would “step back” from hosting the weekly football highlights programme.
However, the corporation’s decision sparked a backlash, with pundits Ian Wright and Alan Shearer refusing to appear on the show, with several other football presenters, pundits and commentators following suit.
Saturday night’s Match Of The Day aired for just 20 minutes without commentary, pundit analysis, post-match interviews and its theme music.
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But the disruption to the BBC’s sports coverage went beyond the flagship show.
Match Of The Day 2 coverage was just 15 minutes long after Jermain Defoe said he would not appear on air.
On BBC Two, the Women’s Super League Chelsea vs Manchester United match was aired with no pre-match presentation and no pundits.
BBC Radio 5 Live was also affected as it replaced its usual live sports coverage over the weekend with pre-recorded content.
Separately, Fiona Bruce, presenter of BBC’s Question Time stepped down from her role as an ambassador for the charity Refuge after claims she trivialised domestic violence on the show last week.
She faced a backlash after intervening during a discussion about the father of former prime minister Boris Johnson.