The 67-year-old actress went home from Cedars-Sinai Medical Center on Sunday, spokesman Warren Cowan said Monday.
Taylor was recovering well from a compression fracture of a vertebra and undergoing physical therapy at home, Cowan said. Her recovery was expected to take several weeks.
The actress suffered the injury in a fall at her Bel Air home on Aug. 19.
She has endured health problems in recent years, including a broken back and lengthy recuperation from hip surgeries. She had brain surgery in 1997 to remove a benign tumor.
The actress won Academy Awards for her roles in Butterfield 8 in 1960 and Who's Afraid of Virginia Woolf? in 1966.