Rose was released from the Oakland County Jail in Pontiac early Thursday, The Detroit News reported.
Rose was arrested in March after he ran his SUV off a snowy road in West Bloomfield, and a blood test showed a 0.12 alcohol level.
Under Michigan law, 0.08 is considered drunken driving.
48th District Court Judge Kimberly Small, known for handing out jail sentences for first-time drunken drivers, sentenced Rose to 20 days in jail, a sentence Rose's lawyer has protested.
"Jalen Rose is one of the finest men I have ever had the privilege to have represented," attorney James Burdick said in a written statement Thursday.
"He is the most hands-on, socially conscious and charitable person I have known. He is the last person, in my opinion, for the judge to have imposed her rule that everyone with a DUI 'must' be sent to jail."
Rose, 38, is known for his work helping inner city kids and for fundraising for charity events, the Detroit Free Press said.