The actor's publicist, Charles Sherman, says the 87-year-old left the hospital on Thursday and was expected to fly home to Los Angeles. Sherman said Asner will likely postpone some of his performances of his one-man stage show.
Tuesday night, he was taken off the stage in Gary, Ind. and was transported by an ambulance to an area hospital.
Asner recently finished filming several episodes of the TV series, "The Glades" in Florida. He has been on a national tour portraying President Franklin Delano Roosevelt in the play "FDR" for more than three years.
He is best known for his roles in the TV shows, "The Mary Tyler Moore Show" and its spinoff "Lou Grant."
The Associated Press contributed to this report.