Jeter sustained the injury in the 12th inning of the Yankees' 6-4 loss to the Detroit Tigers in the first game of the American League Championship Series while trying to field a Jhonny Peralta grounder.
Girardi told reporters after the contest the injury was not career-threatening but was "disappointing" for the American League East champions.
Jeter had to be helped off the field by Girardi and head athletic trainer Steve Donohue after the play, unable to put any weight on the ankle.
The likely future Hall-of-Famer collected his 200th career post-season hit earlier in the game, finishing 1-for-5.
Scarlett Johansson steps out with fiance after pregnancy reveal
Teacher apologizes for showing sexual image of herself in class