Beckenbauer was suspended by world football's governing body on June 13 for breaching FIFA's code of ethics by his apparent refusal to cooperate in an
investigation into the awarding of the 2018 World Cup to Russia and the controversial decision to give the 2022 tournament to Qatar.
"I underestimated the case, especially because all these administrative issues are usually handled by my management," Beckenbauer said in the statement posted by his manager Marcus Höfl on Twitter.
The 68-year-old Beckenbauer, who won the World Cup as a player in 1974 and as a coach in 1990, was on the FIFA executive board in 2010 when the 2022 tournament was awarded to Qatar.
He has always refused to declare who he voted for, but has expressed surprise at Qatar's victory. Beckenbauer left the FIFA executive in 2011, but remains on FIFA's football committee.
Die provisorische Sperre der FIFA gegen Franz Beckenbauer wurde heute aufgehoben. Hier unsere Erklärung dazu pic.twitter.com/xJwq2p4kEA— Marcus Höfl (@marcushoefl) June 27, 2014
Beckenbauer, known as "the Kaiser", refused to cooperate with Michael Garcia the former US federal prosecutor who headed an investigation in the votes for Qatar and Russia.
"FIFA have told Franz Beckenbauer that the provisional suspension announced on June 13 ... was lifted with immediate effect," Höfl said in the statement.
"The management of Franz Beckenbauer still believes that the temporary suspension was not justified because it was not required, in our view, to make statements to FIFA.
"However, in retrospect, it would have been better if Franz Beckenbauer had responded earlier to the questions of FIFA's ethics committee," Höfl continued.
Beckenbauer had cancelled his trip to the World Cup in Brazil, where Germany have advanced to the second round, in light of the FIFA suspension.
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