This paper obtains asymptotic results for parametric inference using prediction-based estimating functions when the data are high frequency observations of a diffusion process with an infinite time horizon. Specifically, the data are observations of a diffusion process at $n$ equidistant time points $Δ_n i$, and the asymptotic scenario is $Δ_n \to 0$ and $nΔ_n \to \infty$. For a useful and tractable classes of prediction-based estimating functions, existence of a consistent estimator is proved under standard weak regularity conditions on the diffusion process and the estimating function. Asymptotic normality of the estimator is established under the additional rate condition $nΔ_n^3 \to 0$. The prediction-based estimating functions are approximate martingale estimating functions to a smaller order than what has previously been studied, and new non-standard asymptotic theory is needed. A Monte Carlo method for calculating the asymptotic variance of the estimators is proposed.