Pele, 74, said he's "doing fine" and has "recovered" in a video posted to Facebook and Twitter. He thanked his fans for praying for him during his time in the hospital.
Pele has had only one kidney since his playing days, when one was removed after he developed complications from a broken rib he suffered while playing.
Pele is the only player in soccer history to be on three
The Associated Press contributed to this report.