The Mr Bean star was admitted to Peterborough City Hospital after crashing his McLaren F1 into a tree. He was reportedly treated for a shoulder injury.
Atkinson left the hospital via a back door this afternoon, according to The Guardian. His agents PBJ & JBJ confirmed that he was sore but not seriously injured.
The car, bought in 1997 for an alleged £650,000, will be sent to the McLaren factory for repairs.
A spokesperson for the Woking-based plant said: "We are waiting to hear more details on the incident, and wish him well for his recovery in the meantime."
Atkinson is reported to have walked from the car, which is said to have caught fire after smashing into a tree on the A605 at Haddon, near Peterborough.
