The 74-year-old three-time World Cup winner underwent a successful procedure to correct a back problem and will continue his recovery at home.
Brazil legend Pele has been discharged from Hospital Israelita Albert Einstein one week after being admitted for back surgery.
The 74-year-old underwent a successful operation in Sao Paulo to correct a trapped nerve which had left him with pain in his legs.
It was the third time in a year that the three-time World Cup winner has needed medical treatment after suffering a urinary infection following a bout of kidney stones, while a prostate condition required surgery back in May.