The Tutu Foundation, named after Mr Tutu and his wife Leah, said the 83-year-old was released on Friday morning after nearly three weeks in the Cape Town hospital.
His daughter Mpho Tutu had said he was being treated for an inflammation.
Archbishop Tutu has been in and out of hospital for the past six weeks to receive intensive antibiotic treatment for a stubborn infection and related complications.
Revd Canon Tutu added that the love, prayers and good wishes expressed by people around the world had been just as important as the medical attention in aiding the Arch's recovery.