American University students Derrik Sweeney, Luke Gates and Gregory Porter were arrested on Sunday near Tahrir Square in Cairo. They were accused of throwing firebombs from the roof of a university building while security forces fought with protesters.
An Egyptian court ordered that the students be released from police custody. Porter's attorney said the students were escorted by police to the airport Friday afternoon.
"He clearly conveyed to me ... that he was OK," said Porter's attorney.
Porter is a 19-year-old student at Drexel University in Philadelphia. Sweeney is a 19-year-old Georgetown University student.
Sweeney's mother said that her son is expected to fly to Frankfurt, Germany, and is expected to arrive to St. Louis late Saturday.
"I am ecstatic. I can't wait for him to get home tomorrow night," Joy Sweeney said. "I can't believe he's actually going to get on a plane. It is so wonderful."
Gates is a 21-year-old student at Indiana University. His family released a statement through the school that they were "extremely happy" he would be coming home soon.
The Associated Press contributed to this story.