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An eidolon can be healed by any of the normal means except resting.
A sythesist's eidolon can be healed only by the rejuvinate eidolon line of spells.
@IejirIsk while the cure wounds spells are not on the summoner spell list, others can cast them on the eidolon. The ring of spell knowledge can provide a summoner direct access to cure spells.

Itchy |

Quick correction to a couple above posts. From the PRD:
A summoner can summon his eidolon in a ritual that takes 1 minute to perform. When summoned in this way, the eidolon hit points are unchanged from the last time it was summoned. The only exception to this is if the eidolon was slain, in which case it returns with half its normal hit points. The eidolon does not heal naturally.
I seem to remember seeing something that said that C_W spells don't heal an Eidolon, but I'm not able to find it at this time.
-Aaron