The 94-year-old was allowed to return home this afternoon "following sustained and gradual improvement in his general condition".
An ambulance is understood to have taken him back to his residence in Johannesburg.
President Jacob Zuma's office said Mr. Mandela would now receive "home-based" care.
A statement said: "President Zuma thanks the hard working medical team and hospital staff for looking after Madiba so efficiently."
He also extended his gratitude to all South Africans, friends of the nation and to people around the world for their support.
Spokesman Mac Maharaj said: "We are all very happy with the news and grateful to the doctors and the hospital staff for looking after so well.
"The doctors said that given his age, they have to monitor him very carefully and they have to remain cautious all the time.
"He is frail, and we need to take into account his age... but Madiba is a fighter and he is not ready to say goodbye to us."
It has been the third health scare in four months for the anti-apartheid leader.
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