Vidic, 32, was substituted shortly before half-time after colliding with United goalkeeper David De Gea.
The ex-Serbia defender, who got to his feet, was taken to hospital for an examination before returning home.
"Nemanja Vidic has been released from hospital after suffering concussion," said a United statement.
Vidic was left dazed after being caught on the head by De Gea as the Spaniard punched clear a high ball.
He is not likely to play again until 24 November when United visit Cardiff in the Premier League following the international break.
United have not put a timescale on a return to training for Vidic, who quit playing for Serbia in October 2011.
His injury came less than a week after Tottenham were criticised for allowing goalkeeper Hugo Lloris to continue playing after he was knocked out against Everton.
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