Vaughan resigned as England captain in 2008
Former England captain Michael Vaughan suffered a twisted right knee warming up for the fourth day of Yorkshire's game with Worcestershire at Headingley.
The 34-year-old was injured playing football during the Yorkshire warm-up.
"We are not unduly concerned by Michael's injury - we took him off as a precaution," said director of cricket Martyn Moxon.
"He should be fully fit for Sunday's Friends Provident Trophy game against Gloucestershire Gladiators."
Yorkshire drew the game with Worcestershire on a rain-hit final day.
Vaughan stepped down as England skipper last summer but remains centrally contracted to the England & Wales Cricket Board.
Earlier this week, he was overlooked for the squad for the first Test against West Indies.
Vaughan missed the 2001 Ashes series after having surgery on his left knee, and missed the first Test against New Zealand in 2004 because of problems with the same knee.
He had a persistent knee problem after the 2005 Ashes, which forced him to have surgery on the right knee in July 2006.