Beaulieu missed Pittsburgh's final 19 regular-season games after being acquired from the Winnipeg Jets.
Beaulieu, 29, has suited up for 24 games this season for the Jets, recording four assists. The veteran of 419 games and 10 NHL seasons has split his career between Winnipeg, Buffalo and Montreal, where he has totaled 12 goals, 82 assists and 94 points.
The 6-foot-2, 200-pound defenseman's best season came in 2016-17 with Montreal, where he set career highs across the board in games played (74), goals (4), assists (24), points (28), power-play goals (2), power-play points (12), hits (65) and blocked shots (102).
Beaulieu has also skated in 21 career playoff games with Montreal and Winnipeg, recording five assists.
The Penguins take on the New York Rangers in Game 2 of Round One tonight at 7:00 PM at Madison Square Garden.
