Now in a post on X on Sunday, Liverpool FC said: “Alan has been discharged from hospital today to continue his recovery at home.
“Alan, Janet, Adam, Lucy and family would like to thank everybody for their wonderful messages of love and support. It has been overwhelming and has helped enormously.”
Hansen, 69, spent 14 years as a Liverpool player after signing from Partick Thistle in 1977, going on to win eight First Division titles, three European Cups and two FA Cups.
He spent four years as captain at Anfield and his 620 appearances place him in the top 10 among all Liverpool players for games played for the club.
The defender also won 26 caps for Scotland between 1979 and 1987, and played at the 1982 World Cup in Spain.
Hansen retired from professional football in 1991 to start a successful career as a television pundit.
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He spent more than 20 years with the BBC, including as a regular guest on Match Of The Day.