Speaking outside court after the incident, Ant said: "I just want to say I'm truly sorry for what happened".
After taking most of 2018 out of television work, following his battle with substance abuse and drink-driving arrest, McPartlin will resume filming Britain's Got Talent this week.
Turning to Donnelly, he said: "As for you, I've missed you". Get Me Out Of Here! Thank you very much, what a warm welcome.
The audience members all got to their feet and began to cheer as Ant walked onto the stage - and immediately went to give Dec a hug.
REUNITED: Ant and Dec were happier than ever to be reunited (Pic: ITV) BACK TO WORK: The producers weren't sure if Ant would be returning (Pic: ITV) "Shall we move on before I cry?" What a great show to come back to.
Dec subsequently presented I'm A Celebrity. It would be like me not being with David, I would be happy, but not happy - if that makes sense.
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McPartlin was suspended from driving for 20 months and received an £86,000 fine after crashing his Mini Cooper while more than two times over the legal drink-driving limit.
Britain's Got Talent judge Walliams was among those celebrating McPartlin's return to the small screen, sharing a picture of himself with Ant and Dec on Instagram.
The picture seemed to have been taken in a auto en route to the London Palladium, where the pair are hosting auditions for Britain's Got Talent. "Can't wait to see you back on TV soon", posted a second.
Ant past year announced he'd be taking time out from presenting work after his involvement in a collision in south London while he was driving under the influence.
Later that year, Ant entered rehab following struggles with a two-year addiction to strong painkillers as a result of a knee operation.
Simon and Amanda have been the judges of every season of Britain's Got Talent, while David and Alesha have been on the show since season six in 2012.