Video shows the coyote named "Phoenix" being released after it was treated and warmed up by shelter veterinary staff.
On Friday, bystanders flagged down first responders who made a lasso to keep the coyote's head above water, until it could be pulled to safety.
VIDEO: Coyote nearly drowns at San Francisco bay
Coyote nearly drowns at San Francisco bay
RELATED: Video shows rescue of coyote pup from under Pier 39 in SF
Coyote pup rescued from water under SF's Pier 39
Paramedics treated the coyote for severe hypothermia.