The 43-year-old singer was admitted to a medical centre in the US earlier this month - just six months after his ex-wife Whitney Houston died.
Bobby's current wife Alicia Etheridge confirmed the singer's release by stating the troubled star had "graduated" from the programme.
She added: "We are supportive and proud."
Originally it was reported the singer was being treated for his ongoing addictions, thought to be alcohol-related, however It has now emerged his stay was part of a plea deal stemming from a DUI arrest in March.
Bobby married his manager Alicia in June but was snubbed by daughter Bobbi Kristina who failed to attend.
Whitney was found dead in a bath at a Beverly Hills hotel in February.
She first topped the charts when she was 22, followed by a flurry of No1 songs and multi-platinum records.
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