The Repsol Honda rider was forced to sit out the races in Argentina, America and Spain after undergoing surgery to correct an arm pump injury, but he was back on his bike at Le Mans over the weekend.
He made a solid comeback as he started P8, but it quickly went downhill on race day as he went down at Turn 4 on the second lap.
Although he managed to return to the track, he had to settle in at the back of the pack and ended up finishing down in 16th place.
In his official blog for repsol.com, Pedrosa wrote: "The circumstances during the whole weekend weren’t easy and in the end the position at the end of the race wasn’t what I had wanted, but I think that our attitude was correct and at the end the overall result of the test was satisfactory.
"It’s a shame that I fell so soon in the race on Sunday. But what’s important is that I was able to rejoin the race and rack up the kilometres. After all the time I was away, not competing, I needed this training and regaining confidence on the bike. It was almost like a test, with positive final results, and although I’m still not 100%, I hope to improve in the next few weeks."