The 74-year-old former athlete was taken in for medical evaluation treatment at the Albert Einstein Hospital in Sao Paulo on Monday.
He is said to have contracted a urinary infection after undergoing surgery to remove kidney stones at the start of November.
Pele was last taken to hospital on 13 November after he was forced to cancel a museum appearance with severe stomach cramps.
“He made some tests and will be discharged tomorrow. Everything is fine,” Jose Fornos Rodrigues, the former player’s personal aide, told Reuters at the time.
Pele aided three Brazilian World Cup victories during his career, and is widely regarded as one of the greatest football players of all time.