Ralph’s mother Cleo Nagbe told CBS News her son had returned home from hospital, surrounded by a team of medical professionals.
He is expected to recover, Ms Nagbe said, stunning his own doctors.
Lee Merritt, a lawyer for the Yarl family, told the BBC that Ralph was suffering from speech problems and had a long road to recovery.
“I think he’s an amazing kid,” said Mr Merritt, adding that the boy was surprised by all the attention the case has been getting.
“It’s a big deal because the community is tired of their children being victimised and Ralph will make the change,” said Mr Merritt.
The lawyer said the family was not upset that Mr Lester had not been charged with attempted murder.
“I don’t want to create a higher burden for prosecutors to meet,” said Mr Merritt. “I want him to be locked away for the rest of his life and so these charges are sufficient.”
Hundreds of protesters held a rally outside the local court on Tuesday where many denounced the suspect’s bail.
“I’m angry Lester’s been released on bail,” 17-year-old Donna Camargo told the BBC.
“Even more angry he was taken into custody at the time of the incident and went home – was able to sleep in his bed while Ralph was fighting for his life in the hospital.”
A GoFundMe account set up to pay for Ralph’s medical recovery has raised more than $3m (£2.4m) as of Tuesday.