The 25-year-old had been on a night out in the northern English city of Leeds with his Sale team mates, and local media reported he tried to cross a road but misjudged the speed of a bus.
"Thank you for all the well wishes, means a lot. My ribs are a bit sore. Feel like I've been hit by a bus..." Cipriani wrote on Twitter.
A club spokesman said Cipriani had been discharged from hospital and was on his way home with some bumps and bruises.
Cipriani, who has seven England caps, joined Sale on a three-year deal last year in a bid to revive his international career after a controversy-marred stint with Australian club the Melbourne Rebels.
During his time in Australia he was under the spotlight for breaching team discipline on a number of occasions.
Cipriani landed in hot water in 2011 for taking a bottle of vodka from the bar of a local nightspot without paying for it and was later stood down for a month for breaching team curfews and failing to turn up to training.
