Officials said that Clinton, who was admitted to New York-Presbyterian Hospital on Sunday, was expected to make a full recovery from the clot, which doctors believe stemmed from a concussion she sustained after falling last month.
"Her medical team advised her that she is making good progress on all fronts, and they are confident she will make a full recovery," her spokesman Philippe Reines said in a statement.
"She's eager to get back to the office, and we will keep you updated on her schedule as it becomes clearer in the coming days," he added.
Chelsea Clinton, Hillary's daughter with former President Bill Clinton, took to Twitter to express her relief and thanked staff at the New York-Presbyterian, where her mother was treated.
"Grateful my Mom discharged from the hospital & is heading home. Even more grateful her medical team confident she'll make a full recovery," @ChelseaClinton tweeted Wednesday evening.
"Thank you to the doctors, nurses & staff at NewYork Presbyterian Hospital Columbia University Medical Center for taking great care of my Mom," she wrote.