The SiriusXM radio host is rejoining the series as it enters its 10th season on NBC. Stern was announced to have joined the reality series in December 2011 as a judge.
"I decided that a life without AGT is not worth living," said Stern in a statement posted on the show's Facebook page. "America needs a caring, compassionate and wise judge, and who am I to deny the people what they want? It would be selfish of me to walk away."
On his radio show on Monday, Stern elaborated, saying there was some "soul-searching" involved in the decision to return this year, that plans for the 10-year anniversary convinced him.
"Howard's wit and character bring an incomparable humor and insight to America's Got Talent," said NBC's Paul Telegdy, president, alternative and late-night programming, in a statement.