Azpilicueta was sent off by referee Stuart Atwell in the final minute of the game for catching Villa captain Jack Grealish in the face with his hands.
The 31-year-old Spain international was set to sit out the opening three games of the 2021/2022 campaign but is now free compete in the games if required by manager Thomas Tuchel.
The FA provided a regulation and discipline update which read: “An independent Regulatory Commission has removed Cesar Azpilicueta’s three-match suspension following a successful claim of wrongful dismissal.
“The Chelsea FC defender was dismissed for violent conduct during the Premier League fixture against Aston Villa FC on Sunday.”
Chelsea lost the game 2-1 but still nicked the final Champions League spot thanks to Tottenham Hotspurs’ 4-2 victory over fifth placed Leicester City.
Azpilicueta has played 42 times in all competitions for Chelsea this season and is set to lead the team out in Saturday’s Champions League final against Manchester City in Portugal.
The former Olympique Marseille defender was this week named in Spain’s 24-man squad for the upcoming European Championship.