Pope Francis has appeared at his window of the Gemelli hospital in Rome and offered a blessing for the first time since being admitted on 14 February.
The 88-year-old pontiff was discharged minutes later and doctors say he will need at least two months of rest at the Vatican.
During the past five weeks, he presented "two very critical episodes" where his "life was in danger", Dr Sergio Alfieri, one of the doctors treating the Pope, said.
Pope Francis was never intubated and always remained alert and oriented, Dr Alfieri said. The Pope is not completely healed, but no longer has pneumonia and is now in a stable condition, according to his doctors.
Dr Alfieri said that patients with double pneumonia lose their voice a little and "especially in the elderly, it will take time for your voice to return to normal".
On Friday, Cardinal Victor Fernandez had said "high-flow oxygen dries everything out" and as a result the Pope "needs to relearn how to speak", Reuters had reported.
If the trend of improvement continues, doctors said, the Pope would be able to return to work as soon as possible.
The Pope has only been seen by the public once since he was admitted to hospital, in a photograph released by the Vatican last week, which showed him praying in a hospital chapel.
Earlier this month, an audio recording of Pope Francis speaking in his native Spanish was played in St Peter's Square in Vatican City.
His voice was breathless as he thanked the Catholic faithful for their prayers.
Pope Francis has spent 12 years as leader of the Roman Catholic Church.
He has suffered a number of health issues throughout his life, including having part of one of his lungs removed at age 21, making him more prone to infections.
