Striker Sturridge, 24, had been a doubt for the match at Wembley after suffering the knock while on duty for club side Liverpool. He missed Friday's 2-0 defeat to Chile as a result.
Tottenham's Walker, 23, also missed the loss to the South American side because of a muscle problem and was suspended for the previous match - a 2-0 World Cup qualifying win over Poland.
But Sturridge told reporters at a press conference: "I've had a lot of treatment over the last few days and been working very hard to make sure I'm OK. I'm going to train today and I'm ready to go for the game.
"It is not a serious injury so I hope it doesn't linger on. I've been playing with it for the last couple of games and it has been hindering my performance. But it is not a problem for me, I'm delighted that the pain is not as bad and I'm looking forward to the game."
And Walker, who has received a pain-killing injection, told FA TV: "I'm feeling fine and ready for selection on Tuesday."
Sturridge started both of England's most recent World Cup qualifiers - the 4-1 win over Montenegro, in which he scored, and the victory over Poland.
He has been in superb form for his club side so far this season, scoring eight Premier League goals in 11 appearances.
He admitted it had been difficult to have this momentum interrupted by missing Friday's game.
"It's frustrating," he said. "For me it is important to play for England and an opportunity I am relishing. If I can remain fit, that is what is important for me.
"But God willing, I'll remain fit and if I can do that then I am sure the opportunities will be there and I'll be able to take them.
"The important thing is to work hard and not worry about anything other than playing football."
The last time England played Germany was in the last 16 of the 2010 World Cup when Joachim Low's side were deserved 4-1 winners.
The game was tinged with controversy as a result of a Frank Lampard shot that crossed the line but was not given with the score at 2-1 to the German's.
Sturridge, though, feels England have moved on from that defeat.
"We are just going to go into the game and try to play our football and enjoy yourselves and hopefully get a result," he said.
Sturridge also praised his country and club team-mate Steven Gerrard, who will become the nation's most capped outfield player if he takes part in all of England's World Cup warm-up games and the Three Lions progress to the knockout stages of the tournament in Brazil.
"He is a legend," added Sturridge. "He is a great man on and off the pitch too. He leads by example and he is someone I look up to.
"I am happy for him and his family. He deserves everything he gets because he
works hard and he is someone every looks up to. He is a leader and the captain of the boys.
"I think he is an example for the youth coming up now and he is somebody that I look up to still."