Rondo scored four points with eight assists and eight rebounds in 29 minutes played.
Celtics coach Doc Rivers said Rondo was cleared by the trainer after testing his ankle during the morning shootaround.
Rondo sprained the ankle a week ago in a win over the Cleveland Cavaliers. The Celtics lost both games Rondo missed to drop 2½ games behind Cleveland in the Eastern Conference.
His replacement, Stephon Marbury, has struggled, scoring just four points with four assists and five turnovers in 45 minutes.