The announcement comes a day after opposition leader Dinorah Figuera pledged to fight for the release of political prisoners in formal talks with the government. A first round of negotiations concluded earlier this week.
The talks are aimed at reconciliation in the country after former President Nicolás Maduro was captured by the US and deposed in January.
One of those now released is said to be a woman accused of participating in a conspiracy to kill Maduro with a drone.
