The 91-year-old left prison in an unmarked vehicle and was taken to a nursing home. Officials did not reveal any details about where Demjanjuk was headed, other than to say it was in the greater Munich area.
Demjanjuk was convicted on Thursday of close to 30,000 counts of being an accessory to murder for serving as a guard at the Nazi's Sobibor death camp.
He was sentenced to five years in prison.
Defense attorney Ulrich Busch filed an appeal immediately after the conviction. He expects the appeal to take about two years.
Demjanjuk, who was born in Ukraine, is allowed to live freely during that time on grounds that he doesn't pose a flight risk in view of his age, his frail health and the fact he is stateless.
Demjanjuk was a Soviet Red Army soldier captured by the Germans in 1942. He is accused of then agreeing to serve as a guard, but Demjanjuk has always maintained he was a victim of the Nazis.
The Associated Press contributed to this report.