The 81-year-old star was rushed to the Mount Sinai Hospital in New York in a critical condition on Thursday after having a heart attack in a doctor's office.
In a statement her daughter Melissa said: "My mother has been moved out of intensive care and into a private room where she is being kept comfortable. Thank you for your continued support."
Earlier in the week her daughter urged the public to pray for her mother's recovery.
She said: "I want to thank everyone for the overwhelming love and support for my mother. She is resting comfortably and is with our family.
"We ask that you continue to keep her in your thoughts and prayers."
US news sites reported that Rivers was undergoing a throat procedure in a clinic when she became unwell.
Leading figures from the world of acting have taken to Twitter to pass on messages of support.
Modern Family actor Jesse Tyler Ferguson wrote: "Sending all my love and prayers to my friend @Joan-Rivers right now."
Rivers, who is known for her acerbic brand of humour, once described herself as the "plastic surgery poster girl" and joked about her numerous procedures.
She starred in the reality TV show Joan & Melissa: Joan Knows Best?