Alan Gross, 65, was accused of helping to hook people up to the internet illegally on the communist island and spent 5 years in prison.
He left Cuba on a US government plane and was freed on humanitarian grounds, a US official told Associated Press.
His arrest and imprisonment has undermined attempts to thaw diplomatic relations between the two countries.
Alan Gross was jailed for 15 years for committing “acts against the integrity of the state”.
His work in building internet access for local communities involved bringing in satellite equipment that is illegal in Cuba.
The Cuban authorities saw Alan Gross’ activities as a covert attempt at regime change, although Washington protested his innocence.
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