"Since being reported earlier in the year, both bowlers have remodelled their bowling actions prior to applying to have their actions re-tested," the ICC said in a statement.
"The results showed that the level of elbow extension measured for all deliveries bowled was now within the 15-degree level of tolerance permitted under ICC regulations," it added.
The duo can still be reported if umpires find them displaying a suspect action and not reproducing the legal technique that was analysed during the re-test.
Senanayake, 29, was included in Sri Lanka's list of 30 probables for the 50-over World Cup in Australia in New Zealand even before his bowling action was cleared by the ICC.
Primarily a middle-order batsman, Williamson also features in New Zealand's preliminary squad for the tournament in February-March.
(Reporting by Amlan Chakraborty in New Delhi; Editing by John O'Brien)
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