Mr. Ford, 92, returned to his nearby home before noon, spokeswoman Penny Circle said.
"He is doing well," she said in a brief statement.
Mr. Ford had been admitted to Eisenhower Medical Center on Jan. 14, and had been expected to be released after five days.
The nation's 38th chief executive, and oldest living former president, had had a minor stroke during the 2000 Republican National Convention, and he was hospitalized after a dizzy spell on a golf course in 2003. Last month, he underwent tests after what was described as a bad cold.
Mr. Ford and his wife, Betty, have lived in Rancho Mirage since leaving the White House in 1977. They also have a home in Colorado.