Though her villainous character Helen Cutter appeared to be killed off in the series three finale, Aubrey told Wired that she would be surprised if viewers did not see the time traveller again.
The actress commented: "I don't think anyone can really 'die' in a world like [Primeval's]. I'm sure she'll return to the show as it moves forward. I hope so, because she was such a joy to play."
Asked if she has been approached by producers, she replied: "I've heard some rumours, but that's all. I'm waiting to see with all of the fans."
Primeval was recently granted a surprise renewal for two new series under a new co-production deal between ITV, UKTV and international broadcasters. The sci-fi hit had originally been axed in June.
Discussing the revoked decision to scrap the programme, Aubrey said: "It came as a huge surprise to all of us. Especially since the show was doing well and was so popular. I heard from so many fans who loved Primeval and loved Helen that they just couldn't understand [the cancellation].
"They really care about the show and [its characters]. I've been in television series in the past, but there's a level of excitement around Primeval that I haven't experienced before."
Filming on Primeval will resume next year ahead of a 2011 airdate.