Rudolph W. Giuliani was released from the hospital on Monday afternoon after a car crash in Manchester, N.H., on Saturday night, according to Arthur L. Aidala, a friend of Mr. Giuliani.

Mr. Aidala said Mr. Giuliani, the former mayor of New York City and lawyer for President Trump, was in high spirits when they spoke by phone. “I have some healing to do, but I’m otherwise in great shape,” Mr. Giuliani said, according to Mr. Aidala.

Mr. Giuliani, 81, intended to recuperate in Manchester but did not specify where, Mr. Aidala said.

Mr. Giuliani suffered fractured vertebra when he was rear-ended while traveling as a passenger on Interstate 93 near Manchester.

“A little car accident won’t be slowing him down,” said Michael Ragusa, the security chief for Mr. Giuliani, who led New York through the Sept. 11 terrorist attacks.

On social media, Mr. Ragusa tried to dispel speculation that the crash was an intentional attempt to harm Mr. Giuliani, who was disbarred and has drawn criticism for trying to overturn results of the 2020 election for Mr. Trump.

“This was not a targeted attack,” Mr. Ragusa wrote on X. “We ask everyone to respect Mayor Giuliani’s privacy and recovery, and refrain from spreading unfounded conspiracy theories.”