It said Ahmed Idris and Ali Mustafa had been allowed to leave the Maiduguri hotel where they were detained, and return to the network`s Abuja office, reported AFP.
"We're pleased for Ahmed and Ali that their ordeal is over," said Salah Negm, director of news for Al-Jazeera English.
"They're looking forward to spending some time with their families and loved ones. I know that both of them want to thank everyone that helped secure their release, including NGOs, politicians and fellow journalists," Negm added.
There were no further details on the conditions of their release.
The pair, both Nigerians, were detained in the northeast where troops were battling Boko Haram militants.
Nigerian defence spokesman Chris Olukolade had said they were "found to have been loitering around areas where military operations are ongoing in the North-east and have been restrained in Maiduguri".
But Al-Jazeera said they were taken from their hotel room after having "finished filming a story on the military with their cooperation", and that their camera equipment was confiscated.
Nigeria's military has had tense relations with the media, particularly overseas organisations, frequently accusing them of misrepresenting the conflict.
The journalists also had their phones confiscated and had not been allowed to contact the outside world.
Reporter Idris joined Al-Jazeera in 2010 and has 30 years' experience in broadcasting. Cameraman Mustafa has been with the network since 2011.
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