Republication comes a day before 14 people go on trial accused of helping the two Islamist attackers carry out their gun rampage on 7 January 2015.
Twelve people were killed, including famous cartoonists. Five people died in a related attack in Paris days later.
The attacks began a wave of jihadist strikes across France.
The front cover of the latest edition features the 12 original cartoons of the Prophet Mohammed, which were published in a Danish newspaper before appearing in Charlie Hebdo. One of the cartoons shows the prophet wearing a bomb instead of a turban. The French headline reads "Tout ça pour ça" ("All of that for this").
In its editorial, the magazine says that it has often been asked to carry on printing caricatures of the prophet since the 2015 killings.
"We have always refused to do so, not because it is prohibited - the law allows us to do so - but because there was a need for a good reason to do it, a reason which has meaning and which brings something to the debate," it says.
"To reproduce these cartoons in the week the trial over the January 2015 terrorist attacks opens seemed essential to us."
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