The 31-year-old music star was on his way to visit family for the holidays when an unidentified shooter walked up to Troy's red Maserati, while it was stopped at an intersection, and opened fire.
The hip-hop star was taken to Brookdale Hospital, where he was treated for bullet wounds, including one to the head, but he was well enough to chat with 50 Cent, who paid him a visit on Monday.
Hours later, Troy was discharged, and he took to Instagram to share video footage of himself walking out of the medical centre to continue his recovery at home, reported New York Daily News.
It's the second shooting Troy Ave, real name Roland Collins, has been involved in this year. He was backstage at T.I.'s Irving Plaza gig in Manhattan in May when shots were fired, killing one man and leaving three others injured, including Troy.