Mauer, who served as a pinch-hitter in that game in Cincinnati, started in 35 straight games before getting the day off in Boston.
Twins manager Ron Gardenhire said it was just time to give Mauer a break, especially considering the club is in the midst of 13 straight games without a day off.
"I think he took enough of a beating yesterday," Gardenhire said. "It was 95 degrees and there was a lot of balls in the dirt and running the bases. He was gassed. So, I didn't want to push him. We're playing a lot of games in a row again."
Mauer, 29, had played in 96 of the Twins' 104 games entering Thursday after playing in just 82 games last season due to various injuries.