Mayor Stephanie Rawlings-Blake had faced growing calls for the curfew to be scrapped, particularly from store and restaurant owners who said the 10:00 pm to 5:00 am nightly restriction was impacting business.
"My goal has always been to not have the curfew in place a single day longer than was necessary," Rawlings-Blake wrote on Twitter on Sunday morning. "I believe we have reached that point today."
The curfew was imposed April 28 and applied to everyone except emergency crews. Authorities initially had said the curfew would remain in place until May 4.
He died a week later.
On Friday, prosecutors said Gray should never even have been arrested and had committed no crime. Six Baltimore police officers, three white and three black, were charged with multiple counts including second-degree murder and manslaughter in connection with the death.
Baltimore's police union has condemned what it calls "an egregious rush to judgement," as it defended the officers and expressed confidence they would be cleared.
Perhaps the most famous case is that of Michael Brown, an 18-year-old who was fatally shot in Ferguson, Missouri. The death and subsequent lack of legal action against the police officer who shot him prompted widespread riots in the St Louis suburb.
Similarly, the death of father-of-six Eric Garner, 43, sparked broad protests. Garner died after being held in a police chokehold while being arrested for illegally selling individual cigarettes in New York.
