The change will come into effect on Monday, June 1, and will also see the re-opening of the car park at Stewart Park.
The town's parks have been subject to both closure and varied opening hours during the Coronavirus outbreak with the aim of keeping Middlesbrough residents safe.
However, despite the parks returning to normal opening hours a number of key issues continue to be highlighted.
Children's play parks and equipment will remain out of bounds and fenced off, while visitors are reminded that social distancing must still be maintained.
Nationwide rules continue to apply and the parks will continue to be monitored including by Council Street Wardens.
Middlesbrough Mayor Andy Preston said: "It's great to see some things getting back to a kind of normality. We've got to remain careful and cautious and aware the virus is out there it will spread - socially distance and be safe."
As the town continues to move through the Coronavirus outbreak, the Mayor added: "I'm seeing loads of positive stuff going on and feel confident that we can face the challenges ahead with optimism."
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For information on local help and support, visit Help Boro at www.middlesbrough.gov.uk/helpboro or call Middlesbrough Council's support line 01642 729777
The latest advice from Government and Public Health England can be found at https://www.gov.uk/coronavirus