Embiid had landed awkwardly in the fourth quarter of the Sixers' 120-111 win over the New Orleans Pelicans on Monday.
The 28-year-old center was assessed by the Sixers team doctors on Wednesday and was ruled out despite initially being listed as questionable.
Sixers head coach Doc Rivers said there were no long-term issues and that Embiid was day-to-day moving forward.
"He didn't talk about a lot of soreness right afterwards," Rivers told reporters prior to Wednesday's game.
"Then, later that night, he said his foot was bothering him and was sore, and then more the next day."
Embiid was the Eastern Conference player of the month for December after averaging 35.4 points on 54.5 per cent shooting from the field for the month.