The Allahabad High Court had on Thursday cancelled the life sentence handed out to the Talwars by a lower court that had convicted them based on circumstantial evidence.
Nupur Talwar's parents received them outside the Dasna prison in Ghaziabad. They are likely to visit a Sai temple in Noida before going to Nupur Talwar's parents' home in Jal Vayu Vihar, where they will be staying for now. Their own apartment, in which their daughter was murdered, has tenants.
The Talwars' release was delayed because a copy of that verdict had not been delivered to the jail last week. The Talwars have asked for police protection, citing an earlier attack on Rajesh Talwar at the Ghaziabad court.

Arushi Talwar's parents Nupur and Rajesh Talwar were lodged in the Dasna Jail near Ghaziabad.
"We were concerned about the fate of our dental department after their release. They have assured us that they would visit jail to attend to inmates every 15 days even after their release," said jail doctor Sunil Tyagi.
While acquitting the Talwars, the High Court likened the trial judge who held them guilty to a "math teacher" and a "film director trying to thrust coherence into scattered facts". The judges also said the CBI had failed to prove beyond doubt that the Talwars had killed their daughter and the conclusion drawn by the trial judge was "illegal and vitiated".
In what remains India's most sensational whodunit, the Talwars' daughter Arushi was found with her throat slit in her bedroom just days short of her 14th birthday. The family's domestic help Hemraj was suspected until his body was discovered the next day on the rooftop of the building where the family lived in Noida near Delhi.
In 2015, the Talwars were convicted by a lower court. They then appealed against that verdict in the Allahabad High Court, which has ripped apart the CBI.