The film was released by Walt Disney Studios Home Entertainment on Blu-ray, Blu-ray 3D, DVD and digital download on September 25, 2012 in the United States and as early as August 29, 2012 in various international markets. Producer Kevin Feige said the Blu-ray features a new Marvel One-Shot titled Item 47 and "a number of deleted scenes and a few storylines that fell by the wayside during the editing process" including "a few more scenes with the S.H.I.E.L.D. agent Maria Hill, played by Cobie Smulders" and "some slightly different versions of Maria Hill and Nick Fury’s interaction with the World Security Council".
The film was also released in a ten-disc box set titled Marvel Cinematic Universe: Phase One – Avengers Assembled that includes all of the "Phase One" films in the Marvel Cinematic Universe. However, in September 2012, the set's release, which was scheduled on the same day as the Blu-ray, was delayed until April 2, 2013, due to a pending lawsuit over the suitcase used to package the collection.
Some fans have criticized the U.K. DVD and Blu-ray release for omitting Joss Whedon's audio commentary, and for altering the scene involving Phil Coulson's death from the film's theatrical version. Disney's U.K. division said the "less graphic depiction of Agent Coulson's confrontation with Loki" occurred because "[e]ach country has its own compliance issues relative to depictions of violence. Unfortunately, another region's elements were inadvertently used to create the UK in-home release".
Upon its first week of release on home media in the U.S., the film topped the Nielsen VideoScan First Alert chart, which tracks overall disc sales, as well as the dedicated Blu-ray Disc sales chart with 72% of unit sales coming from Blu-ray, a record for a new release in which both the DVD and Blu-ray formats were released simultaneously.