Mr Johnson, 55, was taken to London's St Thomas' Hospital on Sunday - 10 days after testing positive for Covid-19.
He had three nights in intensive care before returning to a ward on Thursday.
He said in a video on Twitter that two nurses stood by his bedside for 48 hours at the most critical time.
Mr Johnson said he had witnessed the "personal courage" of hospital staff who "kept putting themselves in harm's way, kept rising this deadly virus".
Downing Street said the PM would continue his recovery at his country residence, Chequers.
"On the advice of his medical team, the PM will not be immediately returning to work. He wishes to thank everybody at St Thomas' for the brilliant care he has received.
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