Rondo broke his hand in late September after falling at his home. He underwent surgery and was expected to miss six to eight weeks.
Last Friday, he was cleared to participate in full-contact practice for the first time since the injury.
Celtics coach Brad Stevens said Rondo is not going to have a minutes limit in the opener.
"I might play him in shorter stints, but no minutes restrictions," Stevens said. "It will be how he plays after that. It really is his first preseason game."
Rondo has played only 68 games over the last two seasons due to a torn ACL sustained in January 2013.
The 28-year-old has averaged 11.1 points and 8.4 assists over eight seasons with the Celtics. Last season he averaged 11.7 points and 9.8 assist in 30 games.
Boston hosts the Brooklyn Nets in Wednesday's opener.
- Molly Geary