Mubarak, 88, was released at 8:30 a.m. Friday from Maadi Military hospital in southern Cairo, where he had been detained.
In 2012, a court handed him a life sentence for murdering 239 demonstrators, but an appeals court in 2014 ordered a retrial and the case was dropped.
On Thursday, a court ordered a renewed corruption investigation into Mubarak for allegedly receiving gifts from the state owned Al-Ahram newspaper.
Former Egyptian leader Hosni Mubarak is back home, free following his release from custody after legal proceedings.
Mubarak, who ruled Egypt for more than three decades, was forced to relinquish executive power to the army in February 2011 after 18 days of countrywide protests.
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Mubarak was arrested in April 2011, two months after he was ousted.
The anti-Mubarak revolt ushered in instability that drove away tourists and investors, taking a heavy toll on the economy and leading to nostalgia for his rule. It was part of the Arab Spring where young people and others across the region went out in the streets to demand better government and more freedom.
Mubarak's democratically elected successor, Mohamed Morsi, was overthrown in a popularly backed military coup in 2013.
Current Egyptian President al-Sisi was "reportedly reluctant to free him because of the public backlash that might accompany such a move", as BBC reported.