The swamp wallaby whose city-bound journey hopping over the Sydney Harbour Bridge earned him global headlines last week has returned to the wild after recovering from his ordeal.

Given the name 'Sydney' or 'Syd' by his carers at Taronga Wildlife Hospital, the wallaby was released into Ku-Ring-Gai National Park around 9am on Thursday morning, nine days after he was captured by police.

Taronga senior veterinarian Dr Larry Vogelnest said Syd made a good recovery after what was a "pretty strenuous incident" last Tuesday morning.

The wallaby had been spotted by passing motorists around 5am, and a police chase across the bridge culminated with Syd being captured and taken to Taronga Zoo in a distressed state.