Beltre went 0-for-3 as the cleanup hitter in the Rangers' 2-0 win over the New York Yankees on Tuesday night.
Manager Ron Washington said he considered easing Beltre back into the lineup as a designated hitter but didn't feel that was necessary after watching the three-time Gold Glove third baseman field ground balls.
"He's physically fit to go," Washington said before the game. "He checked out yesterday, took ground balls and moved well. He's good to go. Definitely dodged a bullet."
Beltre underwent an MRI on Monday that showed no tear in the hamstring, a relief considering that he missed 37 games last season because of a left hamstring strain.
Beltre clutched the hamstring as he sprinted into second base on a double in the first game of Saturday's doubleheader in Detroit. He came out of the game after a brief discussion with Washington and an athletic trainer.
Beltre, 33, entered Tuesday hitting .304 with two homers and seven RBIs for the Rangers this season. He hit .296 with 32 homers and 105 RBIs during his first season with the Rangers last year despite the extended time on the disabled list.