Ramos has sustained several knee and calf injuries in the recent months and has been limited to just four competitive games in the current calendar year.
He joined PSG on a free transfer from Real Madrid last summer, where he spent 16 trophy-laden years at the Bernabeu.
The Spaniard has failed to make a single appearance for the Parisians, though, as injury problems persist.
Ramos is not the only one, Argentine star Lionel Messi has also struggled with injuries and currently on a poor run of form.
Reports have suggested that the French outfit are considering to terminate his contract.
But Carvajal believes that Ramos will play for the nine-time Ligue 1 champions.
"Sergio Ramos? I can relate with what is happening. He is the first who wants to be back as soon as possible," said Carvajal.
Nobody can doubt Ramos' professionalism. I do not think that a club like PSG will terminate his contract but I would welcome him here with open arms. He's a dear friend."