The Rennes player picked up a second yellow card for simulation and the red card meant that he would miss the final against Nigeria.
However the referee, Slim Jdidi, admitted he got the decision wrong after the match and the Confederation of African Football upheld the appeal.
“I'm glad because for me to participate in this final was the goal. I was disappointed to receive the red card because it would mean I could not fulfill my dream to play in the final.” He told francefootball.fr
"To participate in a final of the Africa Cup of Nations is the dream of every kid who loves African football. I am very happy to participate. I was told that the referee had acknowledged his error and normally it would be good for me but at the time it was not official.
“After the red card, at the time, I was shocked. Even if the score was 1-1 in my head I thought we were going to qualify for the final and I was not going to participate.”
Pitroipa was also happy to receive the support of his team-mates and the wider football community.
He added: "I thank all those who supported me, from Burkina Faso and from the outside, my team-mates at Rennes and even former team-mates like Vincent Kompany who sent a message on Twitter."