The 82-year-old former president was discharged from the clinic on Saturday, following the operation on his right hip that was performed Wednesday, the Mayo Clinic said on its Web site.
He traveled to the Mayo Clinic on Tuesday after delivering a eulogy at the Washington funeral of former President Gerald Ford.
Surgeons at the clinic replaced his left hip in 2000. Former first lady Barbara Bush also had successful hip replacement surgery at the clinic, in 1997.
The former president has made several highly publicized skydives in the last decade, most recently in 2004 to celebrate his 80th birthday.