Okoro transferred to Rutgers to be closer to his mother after his father and brother passed away during his freshman year at Iowa State.
"I'd like to thank everyone who supported me these past couple of days," Okoro said on his Twitter page. "I'm really excited to play ball with these guys. God is great."
The NCAA's denial of Okoro's request led to national outcry from media and fans. Former Scarlet Knight and ESPN analyst Dick Vitale led the charge and received a thank you from Okoro via social media.
"I'd also like to give a shout out to the great [Dick Vitale] for his voice on my waiver," Okoro said. "Truly honored and it is heavily appreciated."
Okoro played 32 minutes in nine games as a shooting guard with Iowa State. He averaged one point per game, missing more than half of the season due to personal tragedy.