Petrov, who was diagnosed with leukaemia last March, spoke to the Villa players before their 2-1 FA Cup third-round win over Ipswich.
Saturday's game provided a rare opportunity for Given, who has lost his place in Villa's Premier League team to Brad Guzan.
"Stiliyan asked me if I was playing and if I could remember what I am supposed to do," said Given, who made a late save from Aaron McLean to deny Ipswich a draw.
"It's great to see he has still got his sense of humour. It puts everything in perspective and it gives everyone a huge lift.
"We know we are in a relegation fight, but to see the fight Stan is making is really inspirational. He is still having difficult treatment but he is a real fighter."
Petrov is in remission but needs more chemotherapy.