"The doctors have decided to send him home as the diagnostic procedure he underwent did not indicate anything seriously wrong with him," President Jacob Zuma's office said in a statement.
"The doctors are happy with the progress he is making. We thank all South Africans for their love and support of Madiba. We also thank all for affording Madiba and his family privacy and dignity," said Zuma, referring to Mandela by his clan name.
Mandela's health has been declining in recent years. The 93-year-old now lives under 24-hour medical supervision by team of military doctors and no longer appears in public.
Mandela's family says he's doing well.
The Associated Press contributed to this story.