Vaughan suffered a bruised elbow after being struck by seamer Chris Tremlett while batting in the nets on Tuesday.
An X-ray revealed that there was no break and after overnight treatment, the batsman came through a 20-minute net at Edgbaston on Wednesday morning and declared himself fit.
He said: "It's a little bit sore but it's nice to be fit."
England trail the series 1-0 after losing the opening Test at Lord's.
Earlier report: England wait on captain Vaughan