Altidore, who moved to the Stadium of Light from Dutch side AZ Alkmaar for £6.5m last summer, was stretchered off during the Americans' opening Group G game against Ghana with a hamstring injury and played no further part in the tournament.
But Poyet has monitored the 24-year-old's recovery in Brazil and expects him to be ready when he returns to Wearside after an extended break.
He told the club's official website: "From the beginning, the doctor has been in touch with the US medical staff.
"In the beginning it looked bad but it got much better during the weeks and Jozy was nearly available for the last 16.
"If, say, the US had got through to the next stage, Jozy would have played a part. We know hamstring injuries are tricky and that you have to be careful not to come back too quickly.
"Jozy deserves his holidays now. We have an agreement as to how many days he will have after finishing in the World Cup.
"I am sure, if nothing goes wrong, that when Jozy is back with us for pre-season, he is going to be fit to start training without any problems."
Altidore scored just two goals in 39 appearances last term, with only one of them in the Premier League.