The former Labor leader was admitted to Sydney’s Royal North Shore Hospital, in St Leonards, late on Monday for minor tests.
A hospital spokesman confirmed to AAP on Wednesday afternoon that Mr Hawke was no longer a patient at the hospital.
Mr Hawke’s daughter Sue Pieters-Hawke told the Seven Network her 88-year-old father went by ambulance to hospital for tests, but was “fine” after having a fall.
The tests were a precaution for possible head injury, but he was given the all-clear, she said.
“He’s fine — no brain damage, no bleeds, no stroke, no nothing. Just a break and we’re arguing about whether the break is for him or Blanche (his wife),” Ms Pieters-Hawke said.
Labor MP Chris Bowen said on Tuesday Mr Hawke’s medical issue was being referred to as a case of “the wobbles”.
Mr Hawke served as Australia’s 23rd prime minister from 1983 to 1991 and led Labor to four consecutive election victories.