The former cabinet minister, 88, was admitted to Charing Cross Hospital at the beginning of last month after feeling unwell.
A family spokesman said: "Tony Benn has been moved from hospital and is now being cared for at home. The Benn family would like to express its heartfelt thanks to all the NHS staff at Charing Cross Hospital for their outstanding care, and to the many people who have sent kind messages of concern and support."
Mr Benn entered parliament in November 1950 and served in the cabinet under Harold Wilson and Jim Callaghan.
He campaigned against EU membership, oversaw the development of Concorde, narrowly missed out on election as Labour deputy leader in 1981 and was instrumental in the party's 1983 manifesto.
He stepped down from parliament in 2001.