The President of the United States spent three nights in the centre after testing positive for coronavirus.
Mr Trump seemed in good spirits, announcing his discharge from the hospital in a tweet.
He wrote: “I will be leaving the great Walter Reed Medical Center today at 6:30 P.M.
“Feeling really good! Don’t be afraid of Covid. Don’t let it dominate your life.
“We have developed, under the Trump Administration, some really great drugs & knowledge.
“I feel better than I did 20 years ago!”
Footage of Mr Trump leaving the centre showed him wearing a face mask and walking towards reporters waiting at the end of the stairs.
One journalist is heard asking him: “Do you think you might be a super-spreader, Mr President?”
Mr Trump was seen walking out of the medical centre at 6.38pm ET and signalling victory with his fist up in the air.
Twitter followers expressed relief at President Trump’s swift recovery, responding to his tweet with a stream of well-wishes.
One Twitter user wrote: “So glad you’re doing better.
“Thankful for the medical treatments and Drs.
“Also the power of prayer that has been pouring out for you. God’s warp speed!”
Another user added: “Thank you for continuing to speak out even after everything it has cost you.
“This world needs more of you – people with integrity, courage, and the determination to do the right thing.”