Birmingham Heartlands Hospital said that the 57-year-old has been allowed to continue his recovery at home after a successful operation.
A hospital spokesperson said: "Trevor Francis was discharged from Birmingham Heartlands Hospital this afternoon."
Francis starred for Birmingham from 1970 to 1979 before becoming Britain's first £1million player when he joined Nottingham Forest. He later managed the St Andrews outfit between 1996 and 2001.
Francis has also received best wishes from some of his other clubs he was involved with, including Sheffield Wednesday.
Francis guided the Owls to the FA Cup and League Cup finals in 1993 after taking over as player-manager at Hillsborough two years earlier.