A number of human rights campaigners and celebrities put up a cash sum of 200,000 pounds ($315,000) to secure bail for the 39-year-old Australian.
Assange was arrested in London a week ago after British police received a European Arrest Warrant (EWA) in which Sweden demanded his extradition on allegations of sex offences against two women.
Supporters were jubilant at the decision to free Assange outside City of Westminster Magistrates' Court Tuesday. However, there was still a possibility for Sweden to appeal against the bail decision.
Assange will continue to fight his extradition to Sweden, his lawyers said. Earlier Tuesday, Assange issued a defiant message from prison in London, saying the Swedish allegations would not make him abandon his "ideals".
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