If your iPhone does not have any issues, you can easily exit DFU (Device Firmware update) mode without restoring your iOS device in iTunes .
To get our of iOS device (iPhone, iPad or iPod) DFU mode follow my guide.
- Press and hold Home button and Sleep button together.
- Hold these buttons for few seconds until Apple logo appears. Now your iPhone will restart.
- Your iPhone or iPad is now out of DFU mode.
SEE ALSO : How to put your iPad into DFU mode
If the above methods does not work, try the same steps again. If your iPhone have any problems you need to restore using iTunes.
If you have any issues with DFU mode, inform us via comment.