Lauda, 69, was released in good general condition and is to start several week-long intensive rehabilitation programmes, according to the Vienna AKH hospital, reports Efe.
The three-time F1 champion was hospitalised in Vienna on August 2 as his condition deteriorated after contracting the flu while on vacation on the Spanish island of Ibiza.
In 1976, Lauda was involved in a serious accident at the German circuit of N?rburgring, sustaining severe burns.
He underwent two kidney transplants in 1997 and 2005.
Apart from his decorated Formula One career, Lauda later became a businessman, founding several airlines.
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