"I'm fine," said Jeter, who attributed his day off on Saturday to Girardi's decision, before the game. "It was entirely on [Girardi]."
Jeter went 2-for-4 with a double and scored a run in the Yankees' 4-0 win.
On Saturday, Girardi scratched Jeter 90 minutes before first pitch because of the heel. It was only the second game that Jeter had missed all season.
Jeter did not need any tests and Girardi was optimistic on Saturday Jeter would be able to play on Sunday.
Alex Rodriguez, who is being slowly worked back into the field after hurting his hip, was at third base. He was the DH on Saturday, when Ramiro Pena started at short and Kevin Russo at third in the Yankees' 5-3 win.
Jorge Posada, who caught on Saturday, was the DH on Sunday. Posada is not yet ready to play back-to-back games behind the plate, as he is still recovering from a hairline fracture of his right foot.