"I am well on my way to a full recovery," Robinson, 73, told the AP. He left the Greater Baltimore Medical Center on Tuesday.
Robinson was scheduled for an outpatient procedure on March 31, the report said, but he became ill on March 30 and was admitted early.
Robinson received more than 500 messages to a special e-mail address during his stay at the hospital, according to the report. The messages came from at least 25 states. One get-well wish came from Australia.
Robinson, who played for the Orioles from 1955-77, was elected to the Hall of Fame in 1983.