As NPR's Jane Arraf reports, his lawyers say the 88-year-old left a military hospital this morning where he had essentially been under house arrest.
Mubarak will face retrial in the "Ahram's gift" case as he and some of his aides are accused of accepting gifts from the state-owned Al-Ahram newspaper.
He headed to his home in Heliopolis today.
The news of the release of the former leader military and civilian leader has hit the social media, including twitter.
It also underscored the failed aspirations of the Arab Spring movement that swept the region.
Peskov on Russian connection in killing of Voronenkov: absurd
He said he had to leave Russia because of persecution by Russian security agencies and had renounced Russian citizenship. Voronenkov was no crook but an investigator who was deadly risky for the Russian siloviki (security services)", he said.
The was charged for allegedly ordering the killing of protesters during the 2011 popular uprising that led to his ouster.
Mubarak's release, however, was a quiet affair announced in a statement by his long-serving lawyer Farid el-Deeb.
Mubarak, who ruled Egypt since the 1952 abolition of the monarchy, became president in 1981 after Anwar Sadat's assassination.
Former Egyptian President Hosni Mubarak has been released after six years in detention.
Since then, he has spent nearly six years in prison and military hospitals. "But he's not expected to be taken back into custody unless he's convicted". "I don't have further details, but he is home and all is well now", he said.