Officials said they got a tip from an informant about the possible location of the drawing called "The Judgment."
They found the artwork, valued at $250,000, at a church around midnight and an employee of the Linearis Institute verified the drawing.
The small etching, which is dated circa 1655 and is about 10-by-6 inches, was stolen from a private exhibition Saturday night at the Ritz-Carlton Hotel in Marina del Rey.
No suspects are in custody.
The incident remains under investigation. Anyone with information was asked to contact the Marina del Rey sheriff's station at (310) 482-6000.