The funnyman quit the social networking site in February last year after a follower joked about the death of Lucas' former partner Kevin McGee, who was found hanged at his Edinburgh, Scotland apartment in October 2009.
Lucas took to his abandoned Twitter page on Tuesday to post a YouTube video announcing his return, and wrote: "Matt here. After a break I've decided to come back to Twitter...."
In the video he says: "I am making this little film because after nearly a year away, I have decided to return to Twitter... I just wanted to say hello and be nice to me and I will be nice to you and Happy New Year."
Lucas tied the knot with McGee in a civil partnership in 2006 before parting ways in 2008.