The families of Ivan Buchta and Martin Pezlar were overcome with emotion on Thursday as they reunited with two games developers who had been imprisoned for 128 days.
Buchta and Pezlar were jailed in Greece for nearly four months. They still face trial but, after an exhaustive campaign from colleagues and family, have been allowed to return to their families.
The Bohemia Interactive developers were arrested in September on suspicion of espionage. They face trial for allegedly spying on sensitive Greek military installations while on holiday.
The arrest of Butcha and Pezlar had triggered diplomatic tensions between Greece and the Czech Republic.
Václav Klaus, the president of the Czech Republic, in November asked Greece state officials to place "special attention" on the arrest and trial of the pair.
In a letter to Greek president Karolos Papoulias, Klaus said "this case is very sensitive to the Czech public and also to me as President of the Republic".
"The fate of our citizens anywhere in the world matters to us," he added.
It emerged in September that Ivan Buchta and Martin Pezlar - two Czech developers working on the military FPS game ArmA 3 - were arrested near their hotel while touring Greece.
State officials accused the two of taking detailed photos of a military installation.
Buchta and Pezlar face up to 20 years in prison for charges of spying, which they deny.