The South African was forced off during the side's 2-0 win over Norwich City earlier this month with a groin problem, and it was initially feared that this could keep Pienaar on the sidelines for a number of weeks.
"Steven Pienaar had to come off against Norwich and since then he has been working hard to get back to full fitness and it was a little bit short for Monday," Martinez told reporters.
"We will assess him over the next few days. It shouldn't be a too big a problem in his groin area."
Everton travel to Stevenage in the FA Cup fourth round on Saturday.