The 61-year-old was freed on Friday morning, ending one of the longest-running and most contentious issues between the US and Israel.
Former US navy analyst Jonathan Pollard, jailed for life in 1987 for passing classified information to Israel, has been released.
Mr Pollard’s parole conditions require him to remain in the US for five years.
Repeated Israeli appeals over the years for the US to show clemency towards Mr Pollard were rejected.
Israeli Prime Minister Benjamin Netanyahu said the Israeli people welcomed his release.