Mark Miner, Perry's campaign spokesman, said the governor broke his right collarbone and scraped up his elbow. Miner also said Perry was wearing a helmet when the accident happened near his home.
Perry was released from Seton Medical Center late Tuesday night.
The accident forced the postponement of Perry's planned trips to Galveston, Corpus Christi and South Padre Island to sign bills passed by the Legislature.
He planned to sign measures for windstorm insurance reform and for supplemental funding for the University of Texas Medical Branch in Galveston.
Perry also has legislation sitting on his desk that would require cars to give cyclists three feet of space when passing. When asked if the accident might speed up signing of the bill, Miner said the incident wouldn't sway the governor's decision either way.