The Arsenal defender, a key player for the national side, missed the 2-0 defeat by Czech Republic at Hampden Park in the Group D opener with a niggle.
At the pre-match media conference ahead of the trip to Wembley, Clarke said: “It is good news for Kieran, good news for us and good news for the Scottish supporters.
“Hopefully we can back all that up with a good result.
“He has trained fully the last two days. He is available for the whole game.”
Clarke is under pressure to start Southampton’s Che Adams against England following criticism of his team selection in the disappointing defeat at Hampden Park.
“Every decision you make is a big decision,” Clarke said. “You make decisions with the best intentions.
“I don’t think Che would have made too much difference in the first half because we didn’t get quality ball into the strikers. When we lost the goal just before half-time, I had a fair idea the game would open up, and that allowed Che to show his talents.”
Predicted Scotland XI: Marshall; Hanley, Cooper, Tierney; O’Donnell, Armstrong, McGinn, McTominay, Robertson; Adams, Christie
Squad in full
Goalkeepers: Craig Gordon (Hearts), David Marshall (Derby), Jon McLaughlin (Rangers)
Defenders: Liam Cooper (Leeds), Declan Gallagher (Motherwell), Grant Hanley (Norwich), Jack Hendry (Celtic), Scott McKenna (Nottingham Forest), Stephen O’Donnell (Motherwell), Nathan Patterson (Rangers), Andy Robertson (Liverpool), Greg Taylor (Celtic), Kieran Tierney (Arsenal)
Midfielders: Stuart Armstrong (Southampton), Ryan Christie (Celtic), John Fleck (Sheffield United), James Forrest (Celtic), Ryan Fraser (Newcastle United), Billy Gilmour (Chelsea), John McGinn (Aston Villa), Callum McGregor (Celtic), Scott McTominay (Manchester United), David Turnbull (Celtic)
Forwards: Che Adams (Southampton), Lyndon Dykes (QPR), Kevin Nisbet (Hibernian)