The US leader travelled back to the White House on the presidential helicopter Marine One after being discharged on Monday.
Mr Trump pumped his fist as he walked out of Walter Reed National Military Medical Centre towards a waiting SUV.
He is expected to continue his recovery at the White House, where he will be cared for around-the-clock by a team of doctors and nurses.
Even before he walked out of the doors of the hospital, he tweeted that he would be back on the campaign trail soon.
Earlier, the president said that despite his illness the nation should not be afraid of the virus that has killed more than 210,000 Americans.
“Feeling really good!” Mr Trump tweeted. “Don’t be afraid of Covid. Don’t let it dominate your life.”
Questions remain over the seriousness of the president’s illness after a weekend of conflicting statements.
This page is being updated