Kenneth Bae was arrested in November 2012 accused of planning to overthrow the government.
Another man, Matthew Todd Miller, was also released from jail meaning there are no longer any Americans in North Korean prisons.
It was claimed Mr Bae was working with evangelical organization Youth With A Mission and preaching against the government.
Mr Bae's family say he was offering tours of North Korea in a bid to try and improve the country's economy to make life easier for people living there.
"Thank you all for supporting me, lifting me up, not forgetting me," he told reporters.
His sister, Terri Chung, said: "The day we've been praying for has finally arrived.
"Words cannot adequately express our relief and gratitude that Kenneth is finally coming home.
"We have been waiting for and praying for this day for two years.
"This ordeal has been excruciating for the family, but we are filled with joy right now.
"We believe that God is with people who endure hardship, and that He never leaves them.
"It is with great joy and with thankfulness to God to see Kenneth released.
"Our family could not have been sustained without the knowledge that Kenneth was in God's care, when it seemed we were helpless to do anything."
As a plane carrying the two men landed at a military base near Tacoma in Washington state the US President Barack Obama said he was "grateful" for their safe return.
The exact arrangements of the release is not known although reports suggest the US did not offer anything in return.
As a plane carrying the two men landed at a military base near Tacoma in Washington state the US President Barack Obama said he was "grateful" for their safe return.
The exact arrangements of the release is not known although reports suggest the US did not offer anything in return.