Matfield, 37, who won the 2007 World Cup, retired after playing for the Springboks at the 2011 tournament but he still plays for the Bulls.
Flankers Heinrich Brussow and Schalk Burger, who also won their last caps at the 2011 World Cup, are in the squad.
South Africa host Wales on 14 and 21 June and Scotland on 28 June.
Springboks coach Heyneke Meyer did not consider any Europe-based players for the training camp in Durban from 25-28 May.
After injuries and a serious illness sidelined Stormers flanker Burger, 31, for almost two years, he has been back to his best lately.
“It is great to welcome them back into the Springboks fold,” Meyer said. “I know both of them can still add a lot of value to the team with the 2015 Rugby World Cup looming.”
There are eight uncapped players among the group that will hold a three-day camp from Sunday in Durban.
South Africa play an exhibition match against a World XV in Cape Town on June 7, Wales on June 14 in Durban and on June 21 in Nelspruit, and Scotland on June 28 in Port Elizabeth.
South Africa Squad:
Forwards: Tendai Mtawarira, Trevor Nyakane, Marcel van der Merwe, Jannie du Plessis, Frans Malherbe, Coenie Oosthuizen, Bismarck du Plessis, Adriaan Strauss, Eben Etzebeth, Lood de Jager, Victor Matfield, Flip van der Merwe, Heinrich Brussow, Marcell Coetzee, Siya Kolisi, Willem Alberts, Jacques du Plessis, Teboho Mohoje, Duane Vermeulen, Schalk Burger.
Backs: Fourie du Preez, Francois Hougaard, Johan Goosen, Marnitz Boshoff, Jean de Villiers, Damian de Allende, Jan Serfontein, Juan de Jongh, JJ Engelbrecht, S’bura Sithole, Francois Steyn, Lwazi Mvovo, Bjorn Basson, JP Pietersen, Cornal Hendricks, Willie le Roux
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