"I am really glad to confirm that Hana Humpalova and Antonie Chrastecka ... Returned back to the Czech Republic today in the morning," Prime Minister Bohuslav Sobotka said in a statement.
Sobotka said their release was negotiated by Turkish non-governmental humanitarian organisation IHH.
The women were on the road from Iran to Quetta, the capital of Pakistan's southwestern Baluchistan province, when they were seized in March 2013.
Sobotka said he wished them "a quick recovery and a return to a normal, quiet life." He also asked media to respect their privacy.
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