Shadow minister Emily Thornberry was hospitalised after being knocked off her bike as she left Parliament.
It is understood Ms Thornberry was involved in a collision with a taxi at around lunchtime today.
Police and an ambulance were sent to the scene and the MP was taken to hospital.
A spokesperson for the shadow foreign secretary earlier said: "Emily is recovering in hospital, and is hugely grateful for the support of the ambulance crew and A&E staff who have helped her since this accident.
"We hope she will be back on her feet, back to work, and back on her bike as soon as possible."
Supporters took to social media to wish her a quick recovery.
One said: "Really hope my brilliant & much loved local MP, @EmilyThornberry, is not too badly hurt in her cycling accident in Parliament Square today and/or makes a swift recovery!"
Another added: "Sending many heartfelt get well soon wishes to @EmilyThornberry after her accident.
"A swift and speedy recovery to her."
It has since been confirmed she has been discharged from hospital.
The Labour frontbencher thanked hospital staff and the ambulance crew who helped her following the accident.
A spokesman said: "Emily has now been discharged from hospital, and is hugely grateful for the support of the ambulance crew and A&E staff who helped her following her accident.
"She will be back to work and back on her bike as soon as possible."
Mirror Online has contacted Ms Thornberry's representatives for further comment.
Mirror Online has also contacted the Metropolitan Police.
