Tamimi, 17, became a heroine to Palestinians after the December 15 incident outside her home in the village of Nabi Saleh was streamed live on Facebook by her mother and went viral. She was 16 at the time.
Speaking in front of the microphones before her supporters who had turned out to welcome her, Tamimi issued a brief statement.
“I am grateful to everyone who came to welcome me today. I hope that everyone comes to the press conference at 4pm so I can talk in more detail and convey my message and that of the female prisoners who sent me messages all over the world. Thank you," she said.
Her mother, Nariman, who was also arrested during the assault on the IDF officer last December for filming the incident and posting it on Facebook.
An Israel Prison Service spokesman said Tamimi had left the Sharon prison and was enroute to the West Bank.
On the eve of Tamimi's release from prison, the father of the Palestinian teen provocateur, Bassem, said Saturday that he expects her to take a lead in the struggle against Israel but that the 17-year-old is also weighing college options.
In Tamimi's village of Nabi Saleh, supporters prepared for Sunday's homecoming, planting Palestinian flags on the roof of her family home and setting up hundreds of chairs for well-wishers in the courtyard.
Bassem said Saturday that after her release from prison, "we expect her to lead and we will support her to lead" in the fight to end the "occupation." He did not say what this would entail.
Meanwhile, Israeli troops on Saturday detained two Italian artists who had painted a large mural of Ahed Tamimi on Israel's security barrier, according to local activist Munther Amireh and amateur video posted online.
Ahed was charged with 12 different counts for six different incidents in January, including aggravated assault, hindering a soldier in the line of duty, incitement, threatening a soldier's life and stone-throwing.
According to the indictment, which was filed at the Judea Military Court, Tamimi threw stones at Israeli security forces, threatened them, participated in violent rioting and incited others to participate in the clashes.
Nariman Tamimi was also indicted for her involvement in the assault, as well as for another incident she was involved in along with her daughter. She was also charged with incitement to terrorism on Facebook.
21-year-old Nur Tamimi, Ahed's cousin, who took part in the assault, was charged with aggravated assault of a soldier and hindering a soldier in the line of duty.
Tamimi was sentenced to 8 months in prison in March. The plea bargain concluded that the months during which she had been placed under arrest would be included in her overall setence. She was also ordered to pay an NIS 5,000 fine. Her mother was ordered to pay NIS 6,000.
Ahed Tamimi's trial began January 31. The testimonies of the company commander and soldier involved in the incident were revealed mid-January.
Associated Press, Reuters, Elisha Ben Kimon and Yoav Zitun contributed to this report.