If you put in the needed apostrophe and drop the second comma, the sentence is correct: Martin got out of bed, stretched and yawned after the night's rest. Some people use what is sometimes called the serial comma, and that would give you: Martin got out of bed, stretched, and yawned after the night's rest.
New words, one handy idiom, and a 2-minute quiz — delivered to your inbox to keep your streak alive.