Pele's son, Edson Cholbi do Nascimento (nicknamed Edinho) was released by the high court temporarily till his final appeal is assessed.
Edinho, an ex-convict was released from a prison in Santos, on the outskirts of Sao Paulo, on Thursday and denied any wrongdoing in news conference shortly afterwards.
Edinho is a former goalkeeper who played at his father's former club Santos in Brazil before retiring in 1999.
Pele's son was first convicted in 2014 to 33 years in prison, but that sentence was reduced to 12 years, 10 months after an appeal.
Pele is yet to comment about his son's latest legal troubles.