The 30-year-old, who missed the 2007 tournament because of a shoulder injury, has been struggling with a calf problem since August.
However, the back-rower played a part as the Welsh defeated Namibia 81-7 at the weekend, despite being close to leaving the squad last week.
"It has been a very emotional week for me," admitted Jones. "It was only 10 days ago that I was verging on going home on a plane. That was tough.
"Personally, it is a relief that I have played in a World Cup and I survived 80 minutes.
"I have been waiting seven years for that, it has been a long time coming."
Jones has won 54 caps for Wales.