There were no official updates Monday on the condition of the 95-year-old leader of the anti-apartheid movement, who was taken to his home in an ambulance on Sunday.
In announcing Mandela's discharge, the office of South African President Jacob Zuma said Mandela remains in critical and sometimes unstable condition.
A statement from Zuma's office also says Mandela will receive the same level of intensive care that he did in the hospital, administered by the same doctors.
