Caulker spent a year on loan at the Liberty Stadium before returning to Tottenham.
"I can't wait for the South Wales derby, it's going to be massive," said the 21-year-old Londoner. "I loved my time in South Wales last time around and the people are great.
"The derby is going to be special. As soon as the move to Cardiff came up I was excited to come back to Wales - and these big matches are exactly what I want to be playing in.
"I have one eye on the World Cup at the end of the season, of course. Joining Cardiff was a move designed to aid my England hopes and matches like this one against Swansea will generate huge interest.
"I believe I have developed as a player over the last couple of years and am still working to improve my game all the time."
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