The Scottish runner, 25, fell to the ground and was left unattended for several minutes just over a mile from the finish line.
Hawkins spent Sunday being treated at Gold Coast University Hospital after he suffered in the 27C heat.
Games organisers are now being quizzed on why Hawkins did not receive immediate assistance when it was clear he was in trouble.
A relieved Hawkins said: "I'd like to say a huge thanks to all the medical staff at Gold Coast University Hospital for their care over the last 24 hours.
"It's great to now be back with my team-mates."
Hawkins was on the brink of glory and looked to have his first major title in the bag when he dropped to the floor.
He finished fourth in the World Championships last year.
Hawkins was leading by around two minutes when his legs gave way.
That allowed Australia's Michael Shelley to overtake him and win gold, with Hawkins' team-mate Robbie Simpson claiming bronze.
A Team Scotland statement added: "Team Scotland is pleased to confirm Callum Hawkins has been discharged from Gold Coast University Hospital today and has been reunited with his team-mates in the Commonwealth Games Village, ahead of the team's return to the UK.
"We would like to thank all the supporters and well-wishers for their kind messages of support and the care and concern that has been shown, particularly here on the Gold Coast."
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