With his side a goal down thanks to a Javier Pastore strike and heading out of the competition, the Argentinian was brought on by Tito Vilanova for the final 28 minutes.
Messi became the catalyst for Barca's progression, as he set up Pedro for what proved to be the goal which saw them through to the last four.
The World Footballer of the Year's appearance came just a week after he picked up hamstring problem in the first leg at the Parc des Princes and there were fears his involvement on Wednesday night could have led to a worsening of a problem.
However, the club have announced Messi suffered no negative reaction.
"The injury has not suffered a worsening or no change," the statement read. "The player will continue to set the pace of recovery and its evolution marked availability for the upcoming matches."
He was a welcome sight for Barca at the Nou Camp last night and matchwinner Pedro was keen to praise his team-mates impact.
"He worked very hard all week to be with us tonight. We need to thank him and congratulate him for helping the team, he's the best," Pedro told the club's official website.
"We deserve to be in the semi-finals.
"PSG are a great rival, like any team that make it this deep in the competition."