Navas missed out on a spot in Vicente Del Bosque's 23-man squad with the coach concerned about his fitness after he recovered from an ankle injury.
The 28-year-old last played in the Premier League in April, but said he was happy to have been able to stake his claim.
"I'm proud to have recovered in time and to have fought for a spot in Brazil," Navas wrote on Twitter.
"I wish my team-mates and the boss luck in retaining the title."
"It's a shame I didn't get into the final list, but I'm so proud to have been close. Best of luck to Spain," he tweeted.
"So happy to be picked for Brazil! I'm very keen to help the team at my first World Cup," he tweeted.
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