The 76-year-old Thaksin had served eight months of a one-year prison sentence for corruption and abuse of power when he was pardoned because of his advanced age and health problems.
Telecom billionaire Thaksin, who was controversial as prime minister and whose daughter later also led the country, was pardoned on June 3, Queen Suthida's birthday.
But it was only on Tuesday that the country's Board of Corrections announced that the ankle shackle he had been forced to wear had been removed.
So far, four people from the Shinawatra family and the Pheu Thai party have served as the country's prime minister.
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