The men are all former officials of the Taliban regime that ruled Afghanistan from 1996 to 2001.
The insurgents have been battling the Western-backed Afghan government since they were ousted from power in a US-led invasion.
The Taliban had long demanded the release of the five, who are considered still influential within the movement.
They were freed from Guantanamo Bay and transferred to the Gulf state of Qatar, in exchange for army sergeant Bowe Bergdahl who had been captured by the Taliban five years ago.
The others include Khairullah Khairkhwa, the Taliban interior minister who is considered a relative moderate; Mohammad Fazl, a leading commander with a strong battlefield reputation; Abdul Haq Wasiq, deputy head of the Taliban intelligence service; and Mohammad Nabi.
Nabi, the least known, may have been held on suspicion of ties to the Al-Qaeda-linked Haqqani militant network.
All the men are now in Qatar, which helped broker the deal, and are under a one-year travel ban under the conditions of their release.
"We are very disappointed to hear about the release of these prisoners," he added.
Amir Mohammad Ziaye, a prominent Shiite leader, added: "These prisoners should not have been handed over to Qatar, they should have been handed over to the Afghan government and Noori should have been tried for war crimes."
The allegations around Noori centre on an August 1998 massacre of up to 8,000 Shiites at the hands of the Taliban, who were bent on avenging the killing of 2,000 of their own men a year earlier.
Bahara Bahar, a female activist in the western city of Herat, said the release had dealt a psychological blow to people after years of fighting the Taliban.
"It is almost election time and the release of these five senior members of the Taliban... Will scare and dishearten people," she said.
In Pashtun-dominated areas of the country, however, many welcomed the release.
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