Former world heavyweight champion
Ali's spokesman Bob Gunnell confirmed his release to the Associated Press.
"He's home and resting and glad to be out of the hospital," Gunnell said.
Ali was hospitalized in late December with what was believed to be pneumonia before doctors later determined he was suffering from a urinary tract infection.
He spent more than two weeks in the hospital and then went went home before being admitted again Thursday for the second time in four weeks.
Gunnell told the Los Angeles Times on Thursday that the former three-time champion planned to celebrate his 73rd birthday on Saturday at home with his family.
Ali has homes in Arizona, Kentucky and Michigan.