We investigate the quantum tunneling of Bose-Einstein condensates in optical lattices under gravity in the "Wannier-Stark localization" regime and "Landau-Zener tunneling" regime. Our results agree with experimental data [B. P. Anderson et al., Science 282, 1686 (1998); F. S. Cataliotti et al., Science 293, 843 (2001)]. We obtain the total decay rate which is valid over the entire range of temperatures, and show how it reduces to the appropriate results for the classical thermal activation at high temperatures, the thermally assisted tunneling at intermediate temperatures, and the pure quantum tunneling at low temperatures. We design an experimental protocol to observe this new phenomenon in further experiments.