Murray has served two years of a four-year sentence for involuntary manslaughter after giving the anesthetic propofol to Jackson at the singer's rented Holmby Hills estate.
The release is a result of standard good-behavior credits. Murray said after his release, he plans to restart his life. His attorney has said he hopes to regain his medical license and resume treating patients.
The comments sparked Katherine Jackson's attorney, Brian Panish, to say in a statement, "It is clear Conrad Murray was hired by AEG and killed Michael Jackson. We hope he can never practice medicine again and will not violate his hypocratic oath and hurt another patient."
Michael Jackson died on June 25, 2009, at the age of 50 as he was getting ready for the "This Is It" concert series at London's O2 Arena. An autopsy found that he died of acute propofol intoxication.
Murray was sentenced in November 2011. He served his time at the Men's Central Jail in downtown Los Angeles.
City News Service contributed to this report.