Background and Objectives: Judo is an Olympic contact sport with a high risk of injury owing to its physical, technical, and competitive demands. The role of psychological factors in recovery and Return to Sport (RTS), such as kinesiophobia and self-perception, is key in the injury process. These factors influence both the success and timing of return and are affected by variables such as locus of control, previous experience, and contextual factors. This study sought to analyse the relationship between sociodemographic, clinical, sports, and psychological variables with kinesiophobia and self-perception of RTS to identify psychological profiles. Materials and Methods: A cross-sectional observational study was conducted at the Centro de Alto Rendimiento de Judo (CEAR) in Valencia, Spain; involving 51 high-performance judokas (mean age 23.0 ± 3.8 years) competing at national or international level who were injured, out of competition or in the process of returning to training or competition. Data were collected using a self-administered questionnaire. Psychological variables were assessed using the Tampa Scale for Kinesiophobia (TSK-11) and the Psychological Readiness of Injured Athlete to Return to Sport (PRIA-RS) questionnaire. Results: No significant associations were found between sociodemographic, clinical–sports, and psychological variables (p > 0.05). The mean TSK-11 and PRIA-RS scores were 25.02 ± 5.79 and 36.49 ± 5.29, respectively. Cluster analysis identified three differentiated psychological profiles: one with high kinesiophobia, longer injury and time away from competition, and lower self-perceived readiness to RTS (n = 16); a second with lower fear, the lowest readiness, younger age, and shorter recovery time (n = 17); and a third with the lowest kinesiophobia, highest readiness, older age, and intermediate injury-related time (n = 18). Conclusions: Three psychological profiles were identified: young judokas with low self-perceived readiness to Return to Sport (RTS) and low kinesiophobia; older judokas with high readiness and minimal kinesiophobia; and a more vulnerable group with longer recovery times, high kinesiophobia, and low self-perceived readiness to RTS. Further studies with additional specific variables and biopsychosocial approaches are needed.