The five Bulgarian nurses and one Palestinian doctor who also has Bulgarian citizenship were released early in the day and were flown to Sofia on board a French government jet.
They were accompanied by French first lady Cecilia Sarkozy and European Union External Relations Commissioner Benita Ferrero-Waldner, who had both been working hard for their release.
The six had been given death sentences commuted to life imprisonment for allegedly infecting 438 children with HIV-tainted blood in a Libyan hospital, despite testimony by internationally respected AIDS researchers that poor hygiene was to blame.
Fifty-six of the children have since died.
"What kept me going was the fact that I am innocent and that I believe that if there is no human justice, there is God's justice and it will come some day," one nurse, Kristiana Valcheva, told Bulgarian television.
"In the coming days I will try to learn how to be free.
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Thank God it is over. I hope to start my life anew."
Bulgarian President