Cowell, 58, underwent tests in the hospital throughout the morning but has since returned home.
The music mogul was all smiles as he gave a thumbs up to photographers upon his return.
A source close to Cowell tells ET the producer will miss the first X Factor UK live show on Saturday, but is expected to return on Sunday. The source also noted that depending on how Cowell feels, he could decide to appear on Saturday’s broadcast.
Cowell’s girlfriend, Lauren Silverman, was in New York at the time of the fall but is on a flight now heading back to London.
The couple’s 3-year-old son, Eric, and the house staff are believed to have been at home during the incident, the source says.