Shadow foreign secretary Emily Thornberry was taken to hospital after being knocked off her bicycle in Westminster.
The Labour frontbencher, 58, is understood to have collided with a taxi as she cycled around Parliament Square on Friday at around lunchtime.
She was treated by an ambulance crew before being taken to hospital.
“Emily has now been discharged from hospital, and is hugely grateful for the support of the ambulance crew and A&E staff who helped her following her accident,” said a spokesman.
“She will be back to work and back on her bike as soon as possible.”
The Islington South and Finsbury MP has been sent well wishes by a number of her Labour colleagues.
Shadow foreign minister and Keywood and Middleton MP Liz McInnes tweeted: “Best wishes for a speedy recovery to my friend @EmilyThornberry. Hope nothing broken!”
Welsh MP Nick Thomas-Symonds added: “Sorry to hear this – wishing you a speedy recovery @EmilyThornberry.”
And Warwick and Leamington MP Matt Western said: “Wishing you a speedy recovery @EmilyThornberry.”