Thomas Quinn, 30, fled from Aintree University Hospital, Liverpool, where he had been taken for routine treatment for a hand injury, police said.
Mr Quinn, of Hall Lane, Wythenshawe, handed himself in to a police station in Cheshire on Saturday morning.
Prison officers had taken him to hospital on Wednesday and reported him missing at about 00:30 BST on Thursday.
He was awaiting a court appearance for robbery offences.
A prisoner has handed himself in at a police station after escaping from a hospital where he was being treated.