Van Persie sparked fresh fears over his fitness ahead of the tournament in Brazil when he failed to come out for the second half - he set up Arjen Robben's opening goal before the break.
The Manchester United striker had been building his fitness up after a six-week lay-off towards the end of the Premier League season with a knee injury.
But he and Netherlands coach Louis Van Gaal, who will join him at Old Trafford after the World Cup, played down any fears about his availability.
Van Persie said: "I wouldn't call it an injury, I came off as a precaution.
"It built up during the came so decided it was sensible to come off."
Van Gaal added: "He has a little injury and I think it is better that you don't risk a bigger injury when he plays the second half.
"I think he made the right decision. It is not an important match. You don't have to risk it.
"His action to give the assist for the first goal was fantastic."
Van Gaal also updated the situation of midfielder Jonathan de Guzman, who missed the game with a hamstring injury.
He said: "He also has a little injury. Today he was scanned. It was not so heavy an injury so I take him with me to Brazil, but maybe he cannot play the first match."