Defoe boarded the team bus for training just 30 minutes after arriving back at the team's hotel in Krakow.
The news will boost Roy Hodgson, who has several injury worries to contend with ahead of Monday's Euro 2012 opener against France.
Defender Joleon Lescott is reportedly nursing groin and knee problems, while John Terry and Ashley Cole are also said to be carrying knocks.
There was also brief concern over James Milner, who has been heavily tipped to start on Monday, after the Manchester City midfielder sat out England's visit to Auschwitz and the Oskar Schindler factory on Friday.
But the Football Association soon confirmed the 26-year-old was advised to stay off his feet for the afternoon after suffering blisters and were confident he would train on Saturday.
Milner was one of nine players not to take part in full training on Friday morning, eight of whom are expected to play on Monday.
The FA were at pains to stress all the absences were planned after a tough session behind closed doors and were part of the individual players' rehabilitation programmes.
The Liverpool 2013/14 soccer jersey is available for pre-order. The Reds are eager to compete for silver next season.
Chelsea won the Europa League on Wednesday. The Blues defeated Benfica 2-1 on injury time goal from Ivanovic.
Bayern Munich are kings of Germany and hope to be crowned kings of Europe at Wembley later this month!
Borussia Dortmund hears Wembley Calling and are headed to London for the Champions League final.
Ajax has released their away soccer jersey for the 2013/14 season. Get in the Gear.
The Juventus jersey for the 2013/14 was released earlier this week. Be the first to wear the colors of the Old Lady.
One of the top soccer cleats for control the Nike CTR360 will not let you down on the field in tight spaces.
The push for more color on their cleats, adidas has added the infrared colorway to the adiZero f50 Line.
The adidas Nitrocharge is the most talked about new cleat in years. It was released on May 15 and will take your pitch by storm.
adidas has added some color to the Predator line with this new colorway. Released on May 17. Be the first to own a pair.