Bosh was hospitalized for just over a week and still will be monitored closely, but simply being released is a major step on his road back to health.
"That was his first goal," Heat coach Erik Spoelstra said. "He's been very anxious to get out of there. It was driving him nuts."
Spoelstra said Bosh was sent home Friday.
The situation was a huge scare for Bosh and the Heat, especially since his condition was diagnosed just days after former NBA star Jerome Kersey died because a blood clot traveled from one of his legs to one of his lungs. The team has not released any specifics about Bosh's condition, other than saying he had clots on a lung.
Bosh will miss at least the rest of the season.
His condition was diagnosed last week after he played with pain in his side and back for several days. His final on-court appearance was the NBA All-Star contest in New York two weeks ago, and he went to a hospital for evaluation after being stricken by severe pain while vacationing with Dwyane Wade in Haiti several days later.
There is no timetable for when Bosh -- who averaged 21.1 points and 7 rebounds this season -- is expected back at games, even if only home ones.
"We'll get there when we get to that point," Spoelstra said. "Right now, the big thing is he's at home and we'll take the next step when we get there."