I had all 3 of mine by vaginal birth, with the first I had a tear and they weren't to keen on me leaving to early, stayed for two nights, with the other two I stayed in hospital for only one night.
I think it all really depends on how you and bubs are after the birth, if you feel fine and there haven't been any complications, they will probably quite happily let you go home when if you feel you are ready to.