The county had declared the state of emergency after peaceful protests marking the first anniversary of the police shooting of black teen Michael Brown devolved into violence and looting on Sunday night.
Tyrone Harris, 18, was shot by police after allegedly opening fire during the chaos.
Unrest broke out again Monday night as angry demonstrators threw stones and bottles at police.
The following nights were peaceful with no arrests, officials said.
"I am pleased to report our law enforcement officers have established order while preventing further acts of violence in Ferguson," St. Louis County chief Steve Stenger said in a statement today.
Brown's death on August 9, 2014, led to weeks of sometimes violent unrest in Ferguson last year and sparked nationwide protests.
Outrage at the deaths of Brown and a series of others killed by police in disputed circumstances have fueled the Black Lives Matter movement and a national conversation about racism and police tactics.
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