Home Office figures show the overall cost was £2.1bn in 24/25 - an average of about £5.77m per day.
That makes the sum recovered less than the cost for the government of accommodation every fortnight.
Accommodation providers had previously told Parliament they would be returning some profits to the government, under the terms of their contracts.
The cost to the taxpayer of the contracts has increased significantly since they were signed.
Dame Karen Bradley, the Conservative chair of the home affairs select committee, said the recovery was "welcome" but only a "first step".
She added: "This is only a small part of the many billions that the contracts have and will cost.
"The government must now set out its long term plan for how it will deliver a resilient and cost effective asylum accommodation system."
Ministers have promised to end the use of asylum hotels before the next general election - and the prime minister has said he would like to bring that deadline forward.
But the Home Office has also sought to bring down the immediate costs of hotels and other types of accommodation, like private flats.
The costs for 2024/25 were a reduction from the previous year - when accommodation cost £3bn - or £8.3m per day.
Much of that was down to reducing the average nightly cost per person, as a result of room sharing and cheaper accommodation being used.
Ministers are also planning to use alternative accommodation- such as military sites - to house asylum seekers.