The 93-year-old had keyhole surgery to ease crippling abdominal pains.
South African president Jacob Zuma said: "The doctors have decided to send him home as the diagnostic procedure he underwent did not indicate anything seriously wrong."
Much-loved former leader Mandela had a "diagnostic procedure" on a "long-standing" problem, believed to be an ulcer, colitis or a hernia.
His Johannesburg hospital was not identified, to prevent well-wishers gathering.
Mandela, affectionately known in South Africa by his family name Madiba, spent 27 years in prison for fighting racist white rule.
But he has not appeared in public since the country hosted football's World Cup final in July 2010 and was hospitalised last year with a chest infection, causing widespread concern.
A spokesman for President Zuma said yesterday: "Madiba has had a long-standing abdominal complaint.
"The doctors are satisfied with his condition which they say is consistent with his age. He is not in any danger."
His granddaughter Ndileka Mandela said the family was not unduly concerned. But she added: "When a person of that age is admitted to hospital for a check-up you can never know.
Video: Mandela is hospitalised
FORMER president taken to hospital, due to abdominal complaint
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