There were eight men and one woman arrested at the airport and a hotel in Bali after a tip-off by Australian police.
The case made news around the world when the two ringleaders of the gang, Andrew Chan and Myuran Sukumaran, were shot in 2015 – sparking a row with Australia, which has abolished the death penalty.
After the shootings, Australia recalled his ambassador to Indonesia, although he returned to Jakarta in five weeks.
Other members of the “Bali Nine” received life imprisonment.
The case has drawn attention to Indonesia’s strict drug laws, some of the strictest in the world.
One of the nine, Thanh Duc Thanh Nguyen, died of cancer in 2018. Soon after, 41-year-old Renee Lawrence, the only woman in the group, was given a lighter sentence after spending nearly 13 years in prison.
The Australian government said of the five men’s return: “The men will have the opportunity to continue their personal rehabilitation and reintegration in Australia.”
He expressed his “deep gratitude” to Indonesia for allowing them to return home on humanitarian grounds.
Australian broadcaster ABC reported that men can live freely in Australian society.
