The Beautiful Girls singer was in a critical condition after the crash in Miami on May 29, and suffered a broken jaw, a broken wrist and water in his lungs.
But the 21-year-old was finally discharged from Miami's Jackson Memorial hospital on Tuesday, his rep told E! Online, and will continue the rest of his recovery at home.
Taking to Twitter to share his progress with his fans earlier this week, he wrote: 'Feeling a lot better! GOD IS GREAT! Thanks for all the prayers and support! Love You All!'
The accidents is believed to have happened when Kingston lost control of his watercraft and hit the Palm Island Bridge in the MacArthur Causeway. An investigation by Florida Fish and Wildlife's Conservation Commission said alcohol was not a factor.