Yum Brands Inc.'s fourth-quarter profit slipped 4.7%, but the parent company of KFC, Taco Bell and Pizza Hut reported a slight rise in revenue.

Yum shares rose 3.5% to $68.50 after hours as adjusted earnings topped Wall Street's expectations and it reiterated its outlook.

Chief Executive David C. Novak affirmed the company's goal of attaining at least 20% earnings per-share growth in 2014, saying the company is confident in its ability to "re-establish our track record of double-digit EPS growth."

The restaurant company has been trying to recover from food-safety concerns in China--the company's biggest market--related to KFC chicken suppliers more than a year ago. In November, Yum began an advertising and social-media campaign to assure people that its food is safe, and late last year promised major new initiatives to improve its KFC brand in China during 2014.

Earlier this month, Yum said same-store sales in China fell 4% for the fourth quarter.

Meanwhile on Monday, Yum said U.S. same-store sales fell 2% for the most recent period.

For the fourth-quarter, Yum reported a profit of $321 million, or 70 cents a share, down from $337 million, or 72 a share, a year earlier. Excluding special items such as a tax benefit, pension settlements and other items, adjusted earnings rose to 86 cents a share from 83 cents a share.

Revenue edged up 0.6% to $4.18 billion.

Analysts polled by Thomson Reuters were expecting per-share earnings of 80 cents on revenue of $4.26 billion.

Yum's worldwide restaurant margin declined to 14.2% from 14.4%, with the biggest decline coming from Yum Restaurants International division.

Through Monday's close, the stock has edged up 0.4% in the last 12 months.

Write to Anna Prior at anna.prior@wsj.com

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