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
Jeremy Corbyn is facing increased pressure to resign as Labour leader.
A group of schoolchildren who went missing in the Brecon Beacons are being brought back to safety by rescue teams.
Another unsettled day with cloud, rain and blustery winds.