The rocker, 32, was jailed on May 20 for possessing cocaine - his third jail stint related to his drug use.
He had been filmed smoking a crack pipe with heiress Robyn Whitehead, 27, just days before she died of a drug overdose. The society beauty had been making a documentary about Libertines frontman Doherty.
His release from London's Pentonville has been branded an insult to her family.
Kate Moss's ex-boyfriend announced his freedom on Tuesday in a cheery message on his website. The note read: "On this bright sunny morning Peter was released from prison and thanks everyone for their valued support." A friend said last night: "Pete is over the moon."
But anti-drugs campaigner Shielmor Twomey said: "It makes it worse for the family of Miss Whitehead. It is an insult."
Doherty, of Camden, North London, is said to have a tag and curfew.
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