He was booked into the Montgomery County jail at 1:06 a.m. CT and released at 1:35 a.m. CT after posting the $15,000 bond.
Peterson had been indicted by a grand jury on charges of reckless or negligent injury to a child and a warrant had been issued for his arrest. He flew back early Saturday morning to Minnesota, where he has been deactivated for the Vikings' home game against the Patriots on Sunday.
Peterson's attorney, Rusty Hardin, had told ESPN.com in a text that Peterson "certainly will" surrender to authorities.
Hardin issued a statement Friday saying his client's conduct "involves using a switch to spank his son." According to a report by Sports Radio 610 in Houston, Peterson removed the leaves of a tree branch, which he referred to in a police report as "a switch," to strike the 4-year-old child.
"This indictment follows Adrian's full cooperation with authorities who have been looking into this matter. Adrian is a loving father who used his judgment as a parent to discipline his son," Hardin said in his statement. "He used the same kind of discipline with his child that he experienced as a child growing up in east Texas. Adrian has never hidden from what happened."
Hardin said Peterson has cooperated fully with authorities and voluntarily testified before the grand jury for several hours.
"Adrian will address the charges with the same respect and responsiveness he has brought to this inquiry from its beginning," Hardin said. "It is important to remember that Adrian never intended to harm his son and deeply regrets the unintentional injury."
The Vikings released a statement earlier Friday saying they're in the process of gathering information about Peterson's legal situation and deferred comment to Hardin.
Peterson is pictured on the Vikings' tickets for Sunday's game as well as the tickets for his alma mater Oklahoma's home game against Tennessee on Saturday.
The Houston station, citing law enforcement sources, said Peterson told police that the incident -- he referred to it as a "whooping" -- occurred in Spring, Texas, in May as punishment for his son pushing another one of Peterson's children. The boy suffered cuts and bruises to areas including his back, buttocks, ankles and legs.
Peterson reflected on the loss of his 2-year-old son in an August interview with ESPN.com Vikings reporter Ben Goessling.
"It's just made me stop taking things for granted," said Peterson, who turned 29 in March. "Life is short. You never know. You just want to take advantage of the time you do have."
Information from ESPN.com's Ben Goessling and Darren Rovell was used in this report.