Ali family spokesman Bob Gunnell said Ali left the undisclosed hospital Friday and is back in one of his homes.
Ali and his wife, Lonnie, have homes in Arizona, Michigan and in his native Louisville.
Gunnell says Ali is looking forward to celebrating his 73rd birthday on Saturday with family and friends.
Ali was hospitalized late last month with what initially was believed to be a mild case of pneumonia. Doctors later determined Ali was suffering from a urinary tract infection, not pneumonia. That hospital stay lasted until last week.
Copyright 2015 The Associated Press modified.