Peterson left the game during the third quarter and didn't return, and had on a protective boot after the game.
"He's got a strain, it's not a tear," coach Ken Whisenhunt said. "We're fortunate that it doesn't appear to be anything long-term."
Peterson did get back on his feet following the interception, a good sign the injury was not serious, and later walked off the sideline under his own power with a member of the team's medical staff to the locker room.
Cardinals safety Kerry Rhodes (left ankle) and linebacker Paris Lenon (right wrist) were also injured but returned to the game.
The Associated Press contributed to this report