WASHINGTON—Democratic presidential candidate Elizabeth Warren released results from her annual physical examination, making her the first of the top-tier 2020 candidates to continue a tradition of U.S. presidential contenders making their health details public.

“Senator Warren is in excellent health and has been throughout the 20 years I have served as her physician,” Dr. Beverly Woo of Brigham and Women’s Hospital in Boston wrote in a letter released by Ms. Warren’s campaign. Dr. Woo is also an associate professor at Harvard...