The 25-year-old was sent flying from his GSX-RR on Saturday morning in a massive high-side crash after his rear tyre broke free.
Espargaro was taken to hospital for scans on his right hand and abdomen, but was cleared to take part in qualifying later in the day, and he went on to post the 10th fastest time.
Reflecting on the crash, the Spaniard admitted that it could have been so much worse.
“I think we’ve been very lucky today," Espargaro told the team's official website. "The crash was very hard and I was lucky I didn’t have any major injuries. I still feel painful and I probably have some issues with a ligament in my hand, but I’m eager to race because – strange to say – I feel very good with the bike."
Speaking earlier in the week, Espargaro said that the Le Mans circuit is a track that he "hates", but he was in a more positive mood following qualifying.
“This track I don't like at all, every year struggle a lot, but this year I don't understand why but the bike is fantastic,” he explained. “I think maybe it is the best setting I've had this year. Tomorrow we can do a very, very interesting race. A very good race.