The Real Madrid defender was given his first yellow card for a foul on Jamal Musiala, which was actually enough to rule him out of the last-four game with France, as it was his second of the tournament.
However, Carvajal was then sent off in the final moments of Spain's win over Germany for pulling Musiala to the ground when the Bayern Munich attacker was sprinting clear.
The right-back was suspended for La Roja's semi-final, but he will be available for selection against England.
Indeed, at Euro 2024, a red card is an automatic one-game ban, and while it could have been extended for a 'serious offence', that was not deemed to be the case in this scenario.
Carvajal will be back for Spain against England
Carvajal's ability for Spain is a huge boost for La Roja considering that he entered the tournament off the back of another excellent campaign for Real Madrid.
The 32-year-old has also been impressive at Euro 2024, contributing to his side's wins over Croatia, Italy, Georgia and Germany at this summer's competition.
Carvajal will be back at right-back on Sunday, while there is also expected to be a return in the middle of the defence for Robin Le Normand, who was suspended against France due to the booking which he picked up against Germany.
Head coach Luis de la Fuente has a big decision to make, though, as Nacho impressed alongside Aymeric Laporte in the middle of the defence last time out.
Pedri missing but Morata is expected to be available
Spain will be without the services of Pedri due to the knee injury that the midfielder picked up during the early stages of the quarter-final against Germany.
Captain Alvaro Morata also emerged as a doubt when he collided with a steward during the post-match celebrations against France.
The Atletico Madrid forward limped away from the incident, but there have been no suggestions of a potential problem over the last 24 hours, and Morata is expected to be fit to lead the line.
Lamine Yamal, 16, has been one of the standout players at the tournament, and he will be bidding to become the youngest-ever goalscorer in a European Championship final during Sunday's affair.