According to authorities, Renwick, Tracy Province, 42, and John McCluskey, 45, broke out of the Arizona State Prison in Golden Valley on Friday by cutting a hole through a perimeter fence.
Police are still searching for Province and McCluskey and said they believe the two are still in Arizona. Authorities said they may be in a silver, four-door Volkswagen Jetta with the Arizona license plate 334 VAN.
They reportedly kidnapped two truck drivers at gunpoint on Saturday, forcing one of the victims to drive them to a place east of Flagstaff.
Those truck drivers were released, unharmed.
Officials say a 44-year-old woman identified as Casslyn Mae Welch met the escapees and helped in their escape.
She was last seen driving a blue 1996 Chrysler Concord, with Arizona license plate ABL7584.
Province was serving a life sentence for murder and robbery, Renwick was serving 22 years for second-degree murder and McCluskey was serving 15 years for second-degree murder, aggravated assault and discharge of a firearm.
Province was last seen wearing dark blue jeans, a dark purple polo shirt with red stripes, and white tennis shoes. McCluskey was wearing light-color blue jeans, a white button-up shirt with horizontal and vertical blue stripes, and white tennis shoes.
If you have any information on the prisoners, authorities say you should be careful, and call police immediately.
AP contributed to this report.