His factory Yamaha team said in a statement that the Spaniard, who was previously ruled out of Saturday's race, had been assessed by a medical team in Barcelona and declared fit to fly.
"The world champion has made the decision to return immediately to Assen to spend the remainder of the Grand Prix weekend with his team," the statement said.
"Lorenzo will leave from Barcelona at 3pm and arrive directly at Groningen airport."
Yamaha did not, however, specify whether Lorenzo would attempt to race, adding: "Further updates will be issued in due course".
Lorenzo had secured 12th on the grid as he had got into Q2 with his Thursday morning practice time.
The Majorcan broke his collarbone when he came off while travelling at over 200kph during a wet practice session on Thursday and flew to Spain that evening for an operation that lasted two hours.
"It's been a challenging operation, apparently successful," doctor Michele Zasa said. "We inserted a titanium plate and eight screws to secure the fragments of the collarbone."
The 27-year-old Lorenzo is seven points behind Honda's fellow Spaniard and championship leader Dani Pedrosa in the standings.
Saturday's Dutch TT is the seventh of 18 Grands Prix in the championship.
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