Voit said the injury wasn't to his groin or his hip and that he'll see how he feels on Sunday, and that will determine whether tests are needed.
"A little tightness, but nothing crazy," Voit said of how he felt following the series opener. "It kind of freaked me out when it happened. I guess there was really no point to me staying in the game, so that [getting taken out] was the right decision."
Voit doubled to lead off the fifth inning but said he felt tightness while rounding first base and then hobbled into second.
He would have been out at second, but Boston second baseman Brock Holt dropped the ball after applying the tag.
Gio Urshela ran for Voit and later scored.
Voit went 4-for-4 on the day with three doubles. Urshela stayed in the game at third base, and DJ LeMahieu moved across the diamond to replace Voit at first.
Manager Aaron Boone noted Voit's postgame physical exams "were all good." Still, he did acknowledge that he was a little uneasy about the injury.
"Sure it's a concern," Boone said. "[But] I feel like the evaluation of him was pretty good considering what I saw. And even when I went out there, he said, 'Actually, I think I'm OK.'"
The Red Sox, meanwhile, lost shortstop Xander Bogaerts to a left leg cramp. Bogaerts felt the cramp running the bases in the seventh inning but remained in the game before being replaced by Edwin Nunez in the top of the eighth.
ESPN's Coley Harvey contributed to this report.