Carvajal picked up a thigh injury in the first leg of Madrid's Champions League semi-final against Bayern Munich on April 25, and has not featured since.
The Spain international was said to be facing a battle to be fit for the clash with Liverpool on May 26, but the right-back has vowed to be ready for the final.
"I've already started playing with the ball and I feel fantastic," Carvajal told reporters. "I've had no pain for days and already have my mind set on Kiev, so I won't even take the slightest risk."
Carvajal has missed Madrid's last three matches against Leganes, Bayern and Barcelona.