The 45-year-old German will continue his rehabilitation at an undisclosed location, they said in a statement.
Schumacher was placed in a medically induced coma after suffering a severe head injury in a skiing accident in the French Alps on 29 December.
His family thanked people who had sent messages of support, saying: "We are sure it helped him."
They also praised the "excellent job" of medical staff at the hospital in Grenoble, in south-east France.
Doctors had kept the seven-time champion in a coma to help reduce swelling in his brain.
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