A statement from the South African president's office said:
Former President Nelson Mandela has been discharged from hospital today, 6 April, following a sustained and gradual improvement in his general condition.
The former President will now receive home based high care.
President Zuma thanks the hard working medical team and hospital staff for looking after Madiba so efficiently.
He also extended his gratitude to all South Africans and friends of the Republic in Africa and around the world for support.
More top news
Over 100 people are missing and feared to have been buried under debris following a landslide in China.
Members of the London community have rallied round to offer their help to residents of the evacuated Chalcots estate in Camden.
The two children of murdered MP Jo Cox will unveil a coat of arms in the Houses of Parliament in a touching tribute to their mother.