The Manchester United star was subbed off for Cole Palmer after 61 minutes during Friday’s 2-0 win over Malta.
Rashford had collided with Trent Alexander-Arnold just before and looked in pain as he trudged off the pitch.
Manager Gareth Southgate attempted to play down injury fears, saying: “I think he is probably okay.
“We just thought given the nature of the collision it was a chance to get Cole into the game.
“I haven’t assessed too much but I think he was okay when he came off.”
And ahead of England’s final Euro 2024 qualifier against North Macedonia tomorrow, the team geared up for the game at Tottenham’s training ground.
Rashford was involved throughout the session and appeared fully fit.
The news comes as a relief to Southgate, who has already seen Jude Bellingham, Levi Colwill, James Maddison, Lewis Dunk and Callum Wilson pull out the squad.
And Kieran Trippier has withdrawn since the Malta win for personal reasons.
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England have already booked their place at the Euros and will finish top of the group.
Rashford’s fitness is also a huge boost for Man Utd after Erik ten Hag has already dealt with several injuries this season.
Prior to the start of the international break, Danish duo Rasmus Hojlund and Christian Eriksen both pulled out of the national squad due to fitness concerns.
Casemiro, Lisandro Martinez, Luke Shaw, Tyrell Malacia, Jonny Evans, Aaron Wan-Bissaka and Amad Diallo all missed United’s last game against Luton with injury.