Beltran, who hasn't played since May 12 due to a bone spur in his right elbow, went 0-for-3 as the club's designated hitter. Cervelli caught three innings behind the plate and went 1-for-2 with a double and a walk.
Beltran, 37, had been taking batting practice at Yankee Stadium before traveling to Florida. He said his plan is to play in two more extended spring games and, if everything goes well, join the Yankees on a 10-game road trip that begins on Friday in Kansas City.
"I feel good, man," Beltran said. "The elbow felt good. That's the reason why I'm here, to try to test it. Today, three at-bats; [Tuesday] hopefully a little more. As soon as I do all these days here and everything goes well, then I'll go back."
Beltran said he has just been hitting, not throwing, which means he likely will be limited to being the Yankees' DH upon his return.
Beltran has hit .234/.286/.430 with five homers and 15 RBIs in 33 games this season. He has had two cortisone injections in his injured elbow, and he may have to undergo surgery at some point.
"The plan is hopefully I finish the season, stay healthy, and then when the season is over, I'll address that issue," Beltran said.
Cervelli, meanwhile, said that Monday's workout marked his third extended spring game. The 28-year-old catcher hasn't played since April 13 due to a right hamstring strain, and he was placed on the 60-day disabled list on April 15, retroactive to April 14.
Cervelli said he has been slowly ramping up his rehab because he's about two weeks from being eligible to return, but his leg has felt "very good" and is "getting stronger."
"Very good," Cervelli said. "We're going slow because I've got two more weeks, so I had to wait. But we're doing good."
Cervelli expects to spend a few more days in extended spring camp before joining one of the Yankees' Minor League affiliates for more rehab games. He has been encouraged by his progress so far, however, and is eager to get back to New York.
"Can't wait," Cervelli said.
Bryan Hoch is a reporter for MLB.com. Follow him on Twitter @bryanhoch and read his MLBlog, Bombers Beat. Adam Berry is a reporter for MLB.com. Follow him on Twitter at @adamdberry. This story was not subject to the approval of Major League Baseball or its clubs.