The Desperate Housewives actor was rushed to hospital following a motorcycle crash on October 14.
The 39-year-old, who suffered a fractured shoulder and swelling of the brain, was under observation at Los Angeles County USC Medical Centre.
Harold's representative said in a statement: "Gale Harold is out of intensive care and improving daily. A full recovery is expected. He thanks everyone for their good wishes."
The actor plays Teri Hatcher's love interest Jackson in the fifth season on the fictional Wisteria Lane. He is also known for playing Brian Kinney in Showtime's US version of Queer As Folk.