Pankey was restored to the practice squad from the practice squad injured list Wednesday, per the NFL's transaction log.
Pankey re-signed with the Dolphins on a one-year contract Wednesday, Cameron Wolfe of ESPN.com reports.
Pankey was claimed off waivers by the Dolphins on Tuesday, Rob Demovsky of ESPN.com reports.
Pankey was waived by the Packers on Monday.
The Packers signed Pankey to their active roster Saturday.
Pankey was promoted to the Packers' active roster Wednesday, Michael Cohen of the Milwaukee Journal Sentinel reports.