Two Americans who were being held in detention in North Korea, Matthew Todd Miller and Kenneth Bae, have been released and are on their way home.
US Director of National Intelligence James Clapper travelled to North Korea and is accompanying the men back, the US has confirmed.
A third US citizen, Jeffrey Fowle, was freed last month and no Americans are now being held in North Korea.
US President Barack Obama said he was "grateful" for their safe return, the BBC reported.
He said it was "a wonderful day" for the men and their families.
The US had accused North Korea of using its citizens as pawns in a diplomatic game. Pyongyang denied the accusations.
Mr Clapper travelled to North Korea for direct talks with the authorities.
Mr Obama said: "I appreciate the director doing a great job on what was obviously a challenging mission."
The US department of state said in a statement that it "welcomes the release of US citizens Kenneth Bae and Matthew Todd Miller from the DPRK [North Korea], where they have been held for two years and seven months, respectively".
It added: "The United States has long called on DPRK authorities to release these individuals on humanitarian grounds. We join their families and friends in welcoming them home."
The US thanked Sweden, which serves as the US protecting power in North Korea, for its efforts in the releases, the BBC reported.
Mr Miller, 24, had been sentenced to six years' hard labour in September for what North Korean state media described as "hostile acts".
He had been in custody since 10 April when, according to North Korean sources, he destroyed his tourist visa and demanded asylum.
Mr Bae, 42, had been arrested in November 2012 as he entered the north-eastern port city of Rason, a special economic zone near North Korea's border with China.
He has been described as both a tour operator and Christian missionary. North Korea said he used his tourism business to form groups to overthrow the government.
He was sentenced to 15 years' hard labour in May 2013.
Jeffrey Fowle flew home to the US last month following negotiations.
Mr Fowle, 56, had entered North Korea in April and was detained in early June as he was leaving the country. He was charged with "anti-state" crimes.
He was reported to have left a Bible in the toilet of a restaurant in the northern port city of Chongjin.