The 66-year-old actor-turned-politician was admitted to an Andheri hospital on July 2 after he complained of breathlessness, and subsequently underwent the surgery after blockages were discovered in his coronary arteries.
Speaking to NDTV Movies, Dr Ram Narain said: "He is absolutely fine. He got discharged today evening at 7.30pm. He was supposed to be discharged 10 to 12 days ago after his surgery, but he chose to stay on, after he decided to go in for a cardio-respiratory rehabilitation programme.
"Instead of going home and coming back to hospital for the programme, he thought it was convenient to stay on in the hospital."
Sinha made his Bollywood debut in 1969 with Sajan and has acted in over 200 Hindi films.
The Naseeb star's daughter, Sonakshi Sinha, recently said she hopes to act in a film with her father.
The actor has previously denied speculation that he is planning on making a Bollywood comeback.