Following the expiration of his ban, he returned to competition in the 2009 season. He won the gold medal at the 2009 Bolivarian Games in November, jumping a season's best of 8.25 m, and also helped Venezuela's 4×100 metres relay team to a silver medal. He made few appearances in 2010, but returned to full competition the year after. He ran a 200 metres personal best of 21.13 seconds in May at the national championships, placing third in the sprint after winning the long jump title. A jump of 7.72 m brought him fourth place at the 2011 South American Championships in Athletics and a month later he represented Venezuela at the 2011 Military World Games in Rio de Janeiro, where he took the bronze medal with a clearance of 7.81 m. With the wind right on the permissible limit, he had a jump of 8.03 m at the 2011 ALBA Games – a mark which earned him the gold medal. His season came to a peak at the 2011 Pan American Games in Guadalajara as he jumped 8.05 m (his third best ever) to secure the gold medal, becoming the second Venezuelan man to win an athletics gold at the competition (following Rafael Romero's 200 m win in 1963). Castillo came back at age 35 to jump 7.52m during the 2016 indoor season at a local meet in Elche, Spain.