Jeffrey Fowle was reunited with his wife and three children in his home state of Ohio, after Pyongyang allowed a Pentagon plane to fly into the North Korean capital yesterday to collect him.
"Jeff would like you to know that he was treated well by the government of the DPRK (North Korea) and he's currently in good health," his family said in a statement, read by their spokesman.
North Korea said the "criminal" Fowle was freed as a "special measure" on the orders of leader Kim Jong-Un following "repeated requests" from US President Barack Obama.
In a brief report, the official KCNA news agency said Fowle, 56, had been handed over to the US authorities in accordance with relevant legal procedures.
But US Secretary of State John Kerry insisted Washington, which has no diplomatic ties with the North, had made no concessions to Pyongyang to win his release.
Fowle was smiling broadly as he stepped off his plane carrying his luggage after arriving to Wright-Patterson Air Force Base, US television showed.
But his family said Fowle's thoughts were still with Americans Matthew Miller and Kenneth Bae, who remain in North Korea having been sentenced to work in hard labor camps.
"Although we are overjoyed by Jeff's return home, we are mindful that Kenneth Bae and Matthew Miller continue to be detained," the family said.
His family said he now needed time to adjust to being home.
Fowle entered the North in April and was detained after allegedly leaving a Bible in the bathroom of a nightclub in the northern port of Chongjin.
North Korea heavily restricts religious activity in the isolated country.
Washington has condemned Pyongyang over the detentions, saying the men were being held as political hostages to extract diplomatic concessions.
