The 'Beautiful Girls' singer was rushed to a Florida hospital late last month after crashing his jet ski into a Miami bridge.
The accident is said to have happened after Kingston "lost control" of the jet ski, which was travelling at high speeds and was unable to change directions quickly enough to avoid impact.
Kingston's rep confirmed to MTV News that the star left Jackson Memorial Hospital on Tuesday, nearly three weeks after being admitted.
Despite initially receiving treatment in the facility's ICU in critical condition, Kingston is expected to make a full recovery and was walking and breathing on his own only a week after the incident.
Kingston updated fans on his condition via his Twitter page earlier this week, telling followers that he was feeling "a lot better" following his recovery.