Campbell, 37, left the airport police station just after midnight. London's Metropolitan Police said she was released pending further inquiries and told to report to a police station in late May.
The London-born supermodel was arrested late Thursday on suspicion of assaulting an officer after police were called to a disturbance at Heathrow's new Terminal 5. Witnesses said Campbell was aboard a British Airways plane due to depart for Los Angeles when she became involved in a dispute over her luggage.
Campbell's spokeswoman, Annabel Fox, said Campbell was traveling to the U.S. to attend a memorial service and had boarded the plane when she was told one of her two checked bags was missing.
British Airways "decided to resolve this by insisting she leave the flight and then called the police to forcibly eject her," Fox said.
CBS News correspondent Mark Phillips reports British Airways has been unable to get the baggage handling system at its new London terminal to work properly. More than 28,000 bags have become separated from their owners.
"Of all the bags for an airline to lose, Naomi Campbell's may be the least clever," says Phillips. "The model is as famous for her temper as for her looks."
Campbell has a history of assaulting assistants and employees.
In 2000, she pleaded guilty in Toronto to an assault charge for beating an assistant while making a film in Canada in 1998. Under an agreement with prosecutors, Campbell expressed remorse and was released without punishment or a criminal record.
In January 2007, Campbell pleaded guilty to misdemeanor assault for throwing her cell phone at her maid in a dispute over a missing pair of jeans. She was ordered to do community service and attend a two-day anger-management program.