Maduro arrived at Jose Marti International Airport in Havana along with Attorney General Cilia Flores, the state-run Cuban newspaper said.
Chavez entered the Cuban hospital earlier this month for a six-hour procedure Dec. 11 to treat his recurring cancer, CNN reported.
The Venezuelan president revealed in June 2011 he was battling cancer, but has not disclosed what type of cancer he has. Chavez had a cancerous tumor removed at the time and underwent radiation. He declared himself cancer-free in July.
Rumors that his cancer had returned didn't stop Chavez from winning re-election in October, though Information Minister Ernesto Villegas said the president may not be back in Venezuela in time for his inauguration next month, CNN reported.
Last week, Maduro said Chavez's recovery "is progressing with each day that passes."