The two Malaysian citizens, 47 and 49 years old, have been held by the USA since 2003. Last year, they pleaded guilty to several crimes committed on behalf of the al-Qaeda-linked movement behind the deadly bombings in Bali in 2002.
The men have now been transferred to authorities in Malaysia and will undergo a "deradicalization program" there.
The Kenyan man who was released from prison was arrested in 2007, accused of collaborating with al-Qaeda's branch in East Africa.
Thus, the number of prisoners in Guantánamo Bay is now down to 27, according to American media. At most, several hundred people have been detained in the prison in Cuba as part of the USA's war on terrorism. Over the years, several allegations of torture and illegal interrogation methods in Guantánamo have been directed against the USA.