The 29-year-old Spaniard has been at Seville's Virgen del Rocio hospital since 28th May after an accident involving a horse.
"Really, the brain is intelligent and erases these types of events - and the truth is that... it has been a dream, I woke up here in the hospital and, thank God, today I feel very excited, very happy. I hope to be available soon and recover day by day to return to football," Rico said.
PSG coach Luis Enrique gave Rico his best wishes. "I would like to send a message to Sergio Rico, who is leaving the hospital today and from here, from the club, we hope he continues his recovery, takes steps forward - all the club's support is for him and his family," Rico's compatriot said.
After several days in a coma, the goalkeeper was discharged from the hospital's intensive care unit on 5th July.