"The Yemeni president left the military hospital this evening at 9 p.m. after receiving the necessary treatment and was taken to a temporary residence for a recovery period," the official, who spoke on condition of anonymity, told Yemen Online.
The Russian news agency RIA Novosti reported Mujawar had left the hospital earlier in the day.
However, both men will remain in Ridyah as they recuperate from injuries suffered in a bomb attack at Saleh's residence in Sanaa two months ago, Yemen Online and RIA Novosti said.
It was not known how long they would stay in Ridyah.
Yemeni Vice President Abdrabuh Mansur Hadi has assumed control of the government while Saleh convalesces.
Opposition groups have been calling for Saleh to step down since January and want an interim council created to prevent his return. Saleh has ruled Yemen since 1978.