The Spaniard - who had already sat out the final day of the previous test in Malaysia due to knee pain - crashed at Turn 10 on his 29th lap of the evening and had to be taken to the medical centre on a stretcher.
Although no broken bones were found, he required stitching on his left knee, where a wound from surgery over the winter (required following his crash at Phillip Island last year) had reopened.
Pedrosa also sustained severe contusions to his left wrist, which had previously been broken in an accident in Germany last summer.
A team statement confirmed that he would undergo further checks in Barcelona, but that he should be fit for the next test at Jerez at the end of March.
Pedrosa admitted that the accident had taken him by surprise.
"The conditions weren't ideal with the sand blowing on the track, but this was an unexpected crash," he said. "I was entering Turn 10 and I had a high-side and then the bike came down on top of me.
"It's a shame because we also lost testing time yesterday, but now I will go home for some more scans and hopefully they won't show anything more serious."
Pedrosa had already sat out the first day of the Qatar test due to the poor weather conditions, and coupled with his Sepang difficulties, his latest accident means he will only have managed two and a half days of running before Jerez compared to the six days that many of his rivals have enjoyed.
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