"A battery of tests to determine the underlying cause of the infection, and its persistency uncovered no new malignancy," the Desmond and Leah Tutu Legacy Foundation said.
"Management of the archbishop's prostate cancer will continue. The archbishop will be spending some quiet time at home in Cape Town to recover his sparkle."
Tutu was admitted to hospital on April 24 with a "persistent infection". The non-surgical treatment took five days.
In December 2011, Tutu underwent an elective surgical procedure. At the time, the Desmond Tutu Peace Centre declined to disclose the nature of the operation, but said there was no cause for concern.
The popular cleric battled prostate cancer in the late 1990s.
Tutu celebrated his 81st birthday in October. – Sapa