The Manchester United player took a slight knock during the Community Shield against Chelsea at Wembley yesterday.
Joe Hart, currently on a season-long loan from Manchester City to Birmingham City, has been called up as a replacement.
Foster, 26, has made just two appearances for England, both in friendlies. He debuted in February 2007 in a home defeat by Spain, and returned in the 4-0 home win over Slovakia in March.
Foster's withdrawal leaves Hart, Paul Robinson and Robert Green as England's goalkeepers.