The midfielder, introduced at half-time but withdrawn after half an hour following a robust challenge from Luxembourg's Olivier Thil, improved his claim for a start in Scotland's Euro opener against the Czech Republic on Sunday as he added creativity to a stodgy win for the Scots against 10 men.
Manager Steve Clarke was confident there was little wrong with Gilmour, while the 19-year-old assured supporters he was "okay".
Posting on Twitter, Gilmour said: "Good to get some more minutes! Took a knock but feeling okay! On to the Euros".
While Clarke is hopeful that there won't be an issue, Scotland's medics will be "ultra-cautious" with the Chelsea academy graduate.
"We took him off as a precaution, the medics will assess him but he seemed fine when he was off the pitch," Clarke told Sky Sports.
"He was disappointed to be off but (we'll be) ultra-cautious and the medics will assess him. But everything looks OK for now."
Gilmour has just two appearances for Scotland, both from the bench, but - if fit - has give Clarke a decision to make ahead of the opener at Hampden Park this weekend.