Pierce emerged from a Manhattan courthouse after about two hours of testimony and did not speak to reporters. His attorney, Michael Bachner, said the grand jury asked Pierce a lot of questions and that his statements were "clear, coherent and consistent."
Pierce was with Burress at a Manhattan nightclub last November when the wide receiver accidentally shot himself in the thigh. Authorities say Pierce drove Burress to the hospital and took the gun to Burress' home in Totowa, N.J. Burress did not have a permit for the gun, and has pleaded not guilty to weapon possession. Pierce also may face charges.
Bachner said outside court Friday that he's confident the grand jury will see Pierce did nothing criminal.
"Mr. Pierce acted under a stressful situation to save what he thought was the life of a teammate, and it's really clear once all the testimony came out that no one could've acted any differently," Bachner said.
Giants president John Mara has defended Pierce's actions, which included taking Burress to a hospital under an assumed name. It took police hours to uncover the details of the shooting because no one reported it as required by law.
It's not clear if additional witnesses will be called and Bachner wasn't sure when the grand jury would vote.
Burress testified earlier in the week, asking the grand jury for sympathy. He said outside court that he was truthful and honest.
"I'm truly remorseful for what I've done and for what happened," Burress said.
Burress, who caught the winning touchdown in the final minute of the 2008 Super Bowl, faces up to 3½ years in prison and is free on $100,000 bail.
The Giants released Burress in April and he has not signed with another team.