Hazard, who set up one of two goals from Romelu Lukaku in a 4-1 win for Belgium, limped off in the 70th minute as the hosts came from a goal down to secure victory.
Martinez, speaking to Sky Sports News, praised Hazard for his contributions to the contest.
"I really enjoyed his performance," the Spaniard said. "He was sharp and strong, he was majestic.
"At the end he just came off because he had a little bit of a dead leg, a little bit of a knock on his leg."
Belgium's victory extended their unbeaten run to 18 matches ahead of their World Cup opener with Panama on June 18.