It is said his condition "remains critical and is at times unstable".
An ambulance with police escort was seen arriving at his suburban home, north of Johannesburg, shortly after 9:00am GMT.
Officials said the 95-year-old will receive the same intensive care from his Johannesburg home.
"If there are health conditions that warrant another admission to hospital in future, this will be done."
President Jacob Zuma's office said the elderly statesman has been treated by "a large medical team from the military, academia, private sector and other public health spheres".