The defender appeared to be briefly unconscious after being clattered by his own goalkeeper early on in the game, but medical checks have ruled out any sort of injury
The centre-half was feared to have suffered a concussion after the incident early on in the game and was taken off after 25 minutes for Dani Alves.
The former Manchester United man spent the night under observation in hospital but has now been cleared of any injury.
"Gerard Pique has been discharged from hospital after follow-up medical tests proved satisfactory," a club statement said.
"The Barcelona FC defender spent the night in hospital under observation after a heavy collision with Didier Drogba and Victor Valdes in the early stages of the match against Chelsea.
"The player will now rest for a week before being re-assessed."
Goals from Ramires and Fernando Torres cancelled out first-half strikes from Sergio Busquets and Andres Iniesta as Chelsea reached the Champions League final with a 3-2 aggregate victory.
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