Pietersen left the field before the tea interval and did not return, having apparently injured his hand when he tried to take a catch.
However, Surrey say the 34-year-old is “fine”, and he is expected to play in their LV= County Championship Division Two opener at Glamorgan, which starts on Sunday.
Pietersen is hoping he can force his way back into the England set-up and made 170 in the Surrey first innings on Sunday.
He did not bat in the second innings but was in the field on the final day and tried to take a catch at short fine leg when opener Steve Leach edged a Gareth Batty delivery.
Pietersen failed to haul in the chance and was left shaking his hand gingerly after tumbling over, but he was laughing as he left the field.
A thrilling stroke player, with 104 Test appearances to his name, Pietersen was controversially sacked by England in 2014.
However, he has spoken to incoming England and Wales Cricket Board chairman Colin Graves and believes it is possible that he can force his way back into international contention if he impresses for Surrey this summer.