The hospital said that he was stable and cleared on Thursday morning to leave the facility, but would "continue with chemotherapy."
Brazilian football legend Pele, 80, was briefly transferred to ICU after experiencing breathing difficulties as he continues to recover from last month surgery for a suspected colon tumour.
In recent years, the legend has faced multiple health issues, including a severe urinary tract infection.
Messi headed in from Jordi Alba's cross after his first-half penalty was saved to equal the mark set by the Brazilian great Pele for Santos.
Maradona, Argentina's favourite son whose life was marred by struggles with addiction, died aged 60 following a heart attack at home. Huge crowds are expected to pay their respects as part of three days of national mourning.
From Cristiano Ronaldo to Leo Messi, the footballing world is in shock at the demise of one of the greatest players that ever played the beautiful game, Diego Maradona.
Gordon Banks, who played in every game of the 1966 campaign on home soil, is probably best known for a wonder save he produced to deny Brazilian great Pele in the 1970 World Cup.
Teenager Kylian Mbappe struck twice inside five second-half minutes to ensure France beat Argentina 4-3 and became the first team to qualify for the World Cup quarterfinals.
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