The Aussie star hobbled off during the second half against Feyenoord, sparking fears that he had aggravated the foot injury which restricted him to just three games as a sub last season.
But Benitez insists the 28-year-old will be ready for Saturday's league opener at Aston Villa.
He said: "We were protecting him by taking him off against Feyenoord. He'll be fine for Saturday."