Elliott, 16, played for a young Reds side in their 5-0 loss to Aston Villa in the Carabao Cup on Tuesday night.
But the ex-Fulham teenager, who moved to Anfield in the summer, was not one of three youngsters to fly out to the Middle East after that game.
Goalkeeper Caoimhin Kelleher and defenders Ki-Jana Hoever and Sepp van den Berg all joined up ahead of the semi-final win over Monterrey on Wednesday night.
But Elliott remained at home after suffering a late knock at Villa Park.
However, after Liverpool booked their place in the Club World Cup Final against Flamengo, it was announced that the England Under-19 international would be joining them.
A club statement declared: "Harvey Elliott is set to join up with the Liverpool squad at the FIFA Club World Cup after being deemed fit to travel to Qatar.
"The forward sustained a kick during the Reds’ Carabao Cup tie at Aston Villa on Tuesday evening and, therefore, did not join Caoimhin Kelleher, Sepp van den Berg and Ki-Jana Hoever in flying to Doha after the game at Villa Park.
"However, assessment by the club’s medical team has revealed no issue with the injury and Elliott will now link up with the rest of his teammates at the tournament on Thursday morning."
Elliotts was Liverpool's standout player at Villa Park, leaving Jamie Redknapp to hail his display.
"From minute one he was trying to get on the ball," said Redknapp, who was covering the match as a pundit for Sky Sports.
"He looked the real deal.
"There was one or two passes but I don't know why, some left footers are gifted with."