Porter still faces charges of disorderly conduct and summary public drunkenness.
District Attorney Stephen Zappala Jr. said the video evidence supports only summary citations for disorderly conduct and public drunkenness, so charges of aggravated assault and a simple assault charge are being dropped.
"We will await the outcome of the legal process and communicate further with the National Football League regarding the Personal Conduct Policy before making any further decisions on potential discipline", Rooney said.
Porter's court date is scheduled for January 19th, and earlier this week Mike Tomlin told media there is a chance the outside linebackers coach travels with the team to Kansas City as they prepare to play the Chiefs in the AFC Divisional round of the postseason.
Steelers president Art Rooney II announced the end of Porter's leave in a statement Friday morning.
The 39-year-old was arrested outside of a Pittsburgh bar on Sunday night following the Steelers' playoff win over the Miami Dolphins.
Porter added in a statement he is grateful to return and regrets the incident.
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Porter has been on the Steelers coaching staff since 2014.
Porter spent the first eight of his 13 National Football League seasons with the Steelers and has 98 career sacks.
"We are continuing to gather information concerning Sunday night's incident involving Joey Porter".
Acting police Chief Scott Schubert this week defended the decision to charge Porter, saying video the chief reviewed showed that Abel's account of what happened was accurate and that he conducted himself in the professional manner.
Porter and a doorman at the bar had a dispute, which resulted in the police being called.
Coach Mike Tomlin said Tuesday that the "standard of decorum" for National Football League coaches should be high and that the Porter arrest would not be a distraction for the team.
The review board has the power to make disciplinary recommendations only.