Pistorius is charged with murdering his girlfriend Reeva Steenkamp on Valentine's Day. Pistorius says he mistakenly shot Steenkamp, thinking she was an intruder in his home. Prosecutors think he killed her intentionally after an argument.
The lawyers filed an appeal, saying the double-amputee athlete is not a flight risk and should have the option of traveling outside South Africa as long as he has permission.
The appeal also said there was "no basis in fact or in law" justifying terms under which Pistorius must be supervised by a probation officer and a correctional official.
The 26-year-old track runner has been staying at his uncle's home in a Pretoria suburb since he was released on bail on Feb. 22.
The Associated Press contributed to this report.