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
Five NHS trusts in the Midlands have come under fire after it emerged bosses were sitting on more than £134 million of spare cash.
A factory worker's faithful friends saved his life by lying with him to keep him warm when he fell into a diabetic coma in the freezing cold
A British military healthcare worker is being monitored at the Royal Free Hospital following a needle-stick injury in Sierra Leone.