The university says the junior was released from Robert Wood Johnson University Hospital on Saturday night, walking out under his own power.
Nelson was hurt with 58 seconds left in the game trying to make a tackle after Nebraska intercepted a Chris Laviano pass. He lay on the field for at least five minutes before being loaded onto a cart.
Rutgers coach Kyle Flood said after the game that Nelson had movement in his extremities.
Nebraska won the game 31-14, handing Rutgers its fourth straight loss.