"I have been freed, along with other political prisoners," Rosales, 64, wrote on Twitter following his release.
Opposition groups said that those freed in addition to Rosales were Skarlyn Duarte, Yeimi Varela, Nixon Leal, Angel Contreras and Gerardo Carrero.
They were arrested during 2014 protests calling for the removal of Maduro from power.
Rosales was detained on October 19 after returning to Venezuela following six years of exile.
"We will continue to fight for the liberation of everyone," Rosales wrote on Twitter.
Dissident leaders had demanded his release, and freedom for the other opposition leaders, during negotiations with the government to ease Venezuela's long-running political and economic crisis.
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