Iannetta had been out since being hit in the face by a pitch on May 12 that split his top lip, cracked teeth and broke his nose.
"I got lucky on all accounts," Iannetta said Sunday. "It could have been a lot worse than it really was."
A day after Iannetta was hit by a 93 mph fastball from Pirates right-hander Johnny Barbato, the Diamondbacks placed him on the seven-day concussion disabled list as a precaution.
Reliever Silvino Bracho, who was originally called up to fill Iannetta's spot on the roster, was sent back to Triple-A on Saturday.