The Real Madrid right-back left the field in tears on Saturday in Kiev before his team-mates secured a 3-1 victory over Liverpool to close out a third consecutive European triumph.
But tests carried out by Madrid and observed by Spain's medical team revealed Carvajal's injury is not as serious as first feared, with a reported timeframe of two to three weeks placed upon his recovery.
A statement issued by the Royal Spanish Football Federation (RFEF) confirmed the 26-year-old will join up with Julen Lopetegui's squad later on Monday to continue his rehabilitation.
It read: “Carvajal has undergone the relevant tests by the medical services of his club, at which the doctors of the Spanish national team were present.
“In these tests the existence of a lesion in the hamstring muscle of the right thigh was verified.
“In view of the results, Dani Carvajal is to begin the recovery process of this injury together with the members of the medical team of the Spanish side, who will be in close contact with those of his club during all medical procedures.”