Delaware Attorney General Beau Biden, 41, walked out of Thomas Jefferson University Hospital in Philadelphia about 1 p.m., accompanied by his father-in-law and carrying his 4-year-old son, Hunter.
"Good to be headed home," Biden told media gathered outside the hospital before getting into the front passenger seat of a sport utility vehicle.
Biden will continue recuperating at his Wilmington home, and it is unclear when he might return to work.
In a statement released by the attorney general's office, Dr. Robert Rosenwasser of the Jefferson Hospital for Neuroscience described Biden as neurologically normal.
"I am extremely pleased about his status as of discharge and have released him to assume full responsibilities as attorney general after a brief period of rest at home," Rosenwasser said.
Biden was admitted to Christiana Hospital in Newark last Tuesday and transferred later that day to Thomas Jefferson, the largest center in the region for treating strokes and aneurysms.
Biden announced in January that he would not run for the Senate seat his father held for more than 30 years, but instead would seek re-election as attorney general.