The Yankees said Berra went by ambulance to the hospital as a precaution after landing on his backside. He was released around 4 p.m.
Earlier in the day, Berra said he was OK.
"Feeling fine," Berra said in comments relayed by the team. "Resting comfortably. Hoping to be released later today."
General manager Brian Cashman said Berra caught one of his sneakers on the carpet and fell at Philadelphia's complex, where the Yankees played the Phillies.
"Yogi is resting comfortably. Things are going well. They're running the battery of tests. Things are good right now from we hear," Yankees manager Joe Girardi said after the Phillies beat New York 7-0.
"He landed on his rear end, which is probably the best place you can actually land. He did not want to go to the hospital, but we've got to make sure. When he left he was in good spirits, laughing," he said.
Girardi said paramedics asked Berra questions and took his blood pressure several times.
"He wasn't really excited about that," said Girardi, who rode with Berra to the game.
Berra, a former catching great who is an instructor at spring training, did not want to go to the hospital, Cashman said. The GM said Berra spoke to his wife, Carmen, before leaving.
"He's a special man. He's as good as they come. He's one of the game's greatest. He's a quality person," Cashman said.
The Yankees' clubhouse and the nearby area were closed off just before 11:30 a.m. by Yankees' security officials. About 25 minutes later, Berra was placed into an ambulance, which soon left for Morton Plant Hospital.
"He looked OK before going to the hospital," said Yankees star Jorge Posada, often tutored by Berra in spring camp over the years. "It was scary when I heard it. We were in the (batting) cage and heard that he fell down. I just hope he's OK."
Said Yankees outfielder Nick Swisher: "That's scary. That's nothing to mess with. He's a living legend. They took care of it. That's good."