A statement from the actor's representatives, Nancy Seltzer and Associates, says "a full recovery is expected."
Harold had swelling on the brain and a fractured shoulder after last week's accident. He had been under observation in the intensive care unit at Los Angeles County USC Medical Center.
Harold plays Jackson, the boyfriend of Teri Hatcher's character, on the ABC show.
The statement, released Thursday, added: "He thanks everyone for their good wishes."