Matches have been played in empty stadiums since Premier League football's coronavirus lockdown was lifted in June.
But last week, 2,500 fans were allowed into Brighton & Hove Albion's Amex Stadium for a pre-season friendly against Chelsea after the government announced pilot events for the return of spectators to elite sport.
"We hope to be able to welcome supporters back to Emirates Stadium on a reduced capacity basis from the Sheffield United game scheduled for Saturday 3 October," Arsenal said.
"When fans return to Emirates Stadium, extra measures will be in place to protect us all. These are clearly exceptional circumstances and the health, safety and security of everyone is our top priority," the north London club added in a statement.
FA Cup winners Arsenal, who also claimed the Community Shield last week by beating Liverpool 5-4 on penalties, begin their Premier League campaign at Fulham on Sept. 12.
Gold season ticket holders and premium members will have priority access to the limited tickets available, it said.