Hudson was placed on the 15-day disabled list on July 3 with a shoulder strain.
Over 15 starts this season, Hudson has posted a 4.68 ERA with 49 strikeouts and 22 walks. The 40-year-old is in his 17th season in the league.
"It was a good time to give him a break," Bochy said, according to MLB.com. "But he's good to go now. He's been throwing bullpen [sessions]. We've stretched him out in the bullpen. He had ankle surgery not too long ago. Your body gets beat up playing this game."
Hudson will start when the Giants face the Padres in San Diego on Monday. San Francisco opens a three-game series against the Arizona Diamondbacks on Friday.