Operating profits at the bank, which is 84% owned by the taxpayer, swung to £1.6bn from a loss of £3.4bn in 2009.
RBS has been cutting costs and has announced some 23,000 job losses worldwide since October 2008, including 17,100 in the UK.
Earlier this week, it agreed to sell 318 branches to Santander.
RBS's results follow upbeat performances from Barclays, HSBC and Lloyds.
Chief executive Stephen Hester said the bank's five-year restructuring plan was "on track" and added: "We are making good progress with disposals and overall business restructuring."
"Marathon, not a sprint"
Pointing out that the restructuring process was a "marathon, not a sprint" Hester said overall lending at RBS was down by 3% on 2009 levels, but that the bulk of its loans were to small businesses.
RBS's results follow upbeat performances from Barclays, HSBC and Lloyds.
