Spokesman Allan Mayer said Thursday that the 44-year-old left Northwestern Memorial Hospital in Chicago and is recuperating at his home in the city.
Mayer says it isn't clear when the Chicago native might be well enough to resume performing.
The Grammy-winning singer had complained of throat pain and was taken to the hospital on Tuesday. The same day, surgeons drained an abscess on one of his tonsils.
The self-proclaimed Pied Piper of R&B released a critically acclaimed retro-soul album last year, titled "Love Letter." He recently completed the U.S. leg of a worldwide tour.
Kelly won a Grammy in 1997 for his gospel-tinged "I Believe I Can Fly."