The President-elect twisted his ankle after falling while playing with the dog, and has been examined by a doctor, according to officials. Biden’s team released a statement on Sunday a day after the incident took place.
They said the 78-year-old was being examined by a bone specialist “out of an abundance of caution” on Sunday.
Later on Sunday, Mr Biden visited an orthopaedic specialist in Newark, Delaware.
After an examination, Dr O’Connor confirmed that the president-elect had sprained his ankle.
In a statement, he said: "Initial X-rays are reassuring that there is no obvious fracture and he will be getting an additional CT for more detailed imaging.”
Joe Biden has suffered a painful injury after a playful game with his pet dog
Joe Biden visited an orthopaedic specialist in Delaware
Mr Biden will be the oldest person in history to become the US President when he takes office next year.
The status of his health is likely to be monitored closely by allies and rivals.
On his campaign trail, Mr Biden frequently rejected questions raised about his age.
In December, he released a doctor’s report that revealed he takes statin tablets to keep his cholesterol at healthy levels.
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Jill Biden has suggested that she would like to bring a cat to the White House
Dr O'Connor wrote that Mr Biden was “healthy, vigorous” and “fit to successfully execute the duties of the presidency”.
The president-elect was playing with his dog, Major, when the incident took place on Saturday.
Major is one of the Biden family’s two German Shepherds and is likely to be the first rescue dog to live in the White House.
First Lady-elect Jill Biden has suggested that she would like to bring a cat to the White House, according to reports.
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Joe Biden commented on Donald Trump’s lack of pets during his presidential campaign
She told Fox 5: “Well, I’d love to get a cat. I love having animals around the house.”
Major was fostered by the Bidens in March 2018 from the Delaware Humane Society.
Champ, the second German Shepard, was brought from a breeder as a puppy soon after the 2008 US election.
In 2008, Mr Biden told ABC: “I’ve had German shepherds from the time I was a kid.
“And I’ve actually trained them and shown them in the past, my past life.”
Donald Trump is one of a minority of US presidents not to have brought a pet into the White House
Donald Trump, 74, is one of a minority of US presidents not to have brought a pet into the White House under his presidency.
Mr Biden commented on this in October during his presidential campaign.
Taking to Twitter, Mr Biden wrote: “Some Americans celebrate #NationalCatDay, some celebrate #NationalDogDay — President Trump celebrates neither.
“It says a lot. It’s time we put a pet back in the White House.”
Mr Trump is reportedly the first US president since James Polk in 1849 not to have brought a pet into the White House.