The Talwars, who have been behind bars for nearly four years, walked out of the jail at 5 pm.
Police escorted the couple to Nupur's parents' house in Noida's Jalvayu Vihar, the same locality where they stayed when their daughter and their domestic help were murdered in 2008.
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"A conspiracy had been hatched to implicate our clients," said the couple's lawyer Tanveer Ahmed Mir after their release, which comes just two days ahead of Diwali.
He added that the prosecution presented wrong evidence and requested the media to "let them live in peace".
The Allahabad High Court in its October 12 verdict said neither the circumstances nor the evidence were enough to hold them guilty.
Aarushi Talwar was found dead in her bedroom in the Talwars' Noida home on May 16, 2008. Hemraj's body was found the next day from his room on the terrace.
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