During a preliminary hearing in February, Yoon’s lawyers argued that his detention had been procedurally flawed, an argument accepted by the court, leading to his release 52 days after his arrest.
He was detained in January in a dawn raid after holding out against police and prosecutors for weeks, becoming the first sitting South Korean president to be arrested.
If convicted, Yoon could face life imprisonment or even the death penalty.
On Friday, the 64-year-old former leader vacated the presidential residence and returned to his private home in Seoul, greeting supporters along the way.
“Now, I return to being an ordinary citizen of the Republic of Korea and I will seek a new path in service of our country and our people,” he said in a statement.
With Yoon’s removal, South Korea is set to hold a snap election on Jun 3 to elect his successor.
Until then, the country is governed by acting president Han Duck-soo.
