The controversy triggered nationwide debates over free speech.
During Tuesday’s show, a tearful Kimmel said it “was never my intention to make light of the murder of a young man”. He also accused Mr Carr of “mob tactics”.
The comic also criticised Trump for calling for the axing of his fellow late-night hosts – all of whom are frequent critics of the president as they riff on the day’s biggest news stories.
“Our leader celebrates people losing their livelihoods because he can’t take a joke,” Kimmel said, adding that Trump openly rooting for people to lose their jobs was “un-American” and “dangerous”.
Kimmel’s return was praised by some celebrity supporters, including actor Ben Stiller, who lauded the “brilliant monologue”. But it was not universally welcomed.
Trump was critical of his reinstatement, writing on social media: “I can’t believe ABC Fake News gave Jimmy Kimmel his job back.”
Turning Point USA spokesman Andrew Kolvet, Kirk’s former producer, said Kimmel should have offered a full apology for suggesting the suspected killer was a Maga supporter. “Not good enough,” he wrote on X.