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"In recognition of the respective counter-arguments and the risks inherent in the dispute resolution process, each side has accepted a compromise of its position," a statement released by UKAD read.
UKAD back-dated Fury's two-year ban to December 13, 2015.
The 29-year-old has not fought since his shock defeat of Wladimir Klitschko to win the WBA, WBO and IBF heavyweight titles in November 2015.
Fury tweeted: "Guess who's back? #returnofthemac".