Known in Brazil as "O Rei," or "The King," he will continue visiting the hospital at least once a month for check-ups and to continue chemotherapy for a colon tumor detected last September, according to his family.
In February, the ailing Pele spent two weeks in hospital for cancer treatment complicated by a urinary tract infection.
Before his cancer diagnosis, which saw Pele hospitalised for a month last year, the former Santos and Brazil national star had been hospitalised to have a kidney stone removed in 2019 and for a urinary tract infection in 2014.
At the time, he had to undergo dialysis on his only remaining kidney -- the other was removed in the 1970s due to an injury.
Pele, born Edson Arantes do Nascimento, has also had his mobility reduced by hip problems that have forced him to use a wheelchair.