Tutu, 84, had been admitted to a Cape Town hospital and last week underwent a "minor surgical procedure" to determine the cause of the infection.
"Archbishop Emeritus Desmond Tutu was this morning discharged," said a statement by his family. His wife Leah Tutu said she was "overjoyed" to have him home, saying she would help nurture him back to full health.
The Nobel Peace laureate was last year hospitalised over a persistent infection which was a result of the prostate cancer treatment he has been receiving for nearly 20 years.
He won the Nobel Peace Prize in 1984.
Disclaimer: No Business Standard Journalist was involved in creation of this content