Torunarigha, who is Black, plays as a defender for Germany.
The match against Honduras took place in Wakayama, Japan and was the final practice for the German side before their first Olympic match on July 22, according to the DFB.
The friendly was set up to be three 30-minute games, but at the end of the third match Germany’s coach Stefan Kuntz and his team left the field early.
“When of our players is racially abused, playing on is not an option,” Kuntz said in a statement.
In February 2020, Hertha BSC player Torunarigha was racially abused by fans of an opposing team in a German Cup match.
The DFB fined Bundesliga club Schalke roughly $59,000 over the incident.