The permission was granted by the country's highest court after experts determined that the surgery was medically necessary.
Hospital sources told AFP that Bolsonaro was released on Wednesday and a convoy of black cars, escorted by motorcycles, could later be seen arriving at the hospital in Brasília.
Right-wing radical Bolsonaro was sentenced in September to 27 years in prison for leading a coup attempt after losing the 2022 election.
The 70-year-old's lawyers and allies have since tried to have the verdict overturned or the sentence reduced, which have so far failed.
