While singing "So What," Pink fell out of a harness which was supposed to carry her toward the crowd.
The 30-year-old climbed back onto the stage after the incident, but the concert was stopped immediately.
She was taken to the hospital where she underwent a checkup.
Peter Riegert Concerts' Stefan Guentner said Friday the singer wasn't seriously injured and is looking forward to Friday's concert in Salem, Germany.
The Associated Press contributed to this report.