The 27-year-old supermodel was being driven to a fashion shoot when the crash happened on Wednesday morning.
Police say two vehicles, a Range Rover and a saloon car, were involved in the incident on the A13 near Basildon, Essex.
Ms Moss, who was a passenger in the Range Rover, was airlifted to Basildon Hospital.
A spokesman for the Storm model agency, which represents Ms Moss, said she left the hospital after a check up for an injured shoulder.
The agency said Ms Moss was not badly hurt but had suffered some bruising.
The fashion shoot was cancelled because of the accident.
Police said an elderly couple, who were in the other car, were also taken to hospital with minor cuts and bruising.
Both cars left the road and went down a steep incline following the collision, according to a spokeswoman for Essex Ambulance Service.
She said: "There were four casualties, two male and two female.
"Paramedics quickly determined that the injuries were not immediately life-threatening.
"Three patients were conveyed by a land ambulance to Basildon Hospital.
"A young female was airlifted to Basildon Hospital after being stabilised by paramedics."
Ms Moss passed her driving test in May this year but she was not driving, a Storm spokesman said.
Born in Croydon, Surrey, Kate Moss was discovered by a modelling scout when she was just 14 and went on to become one of the original and leading "supermodels".