Judge Kenneth R. Lester Jr. found that Zimmerman's deceit over cash holdings at his first bond hearing in April was not enough to hold him without bail. However, he also said he believed the suspect may have been planning to flee the country to avoid prosecution in the killing of Florida teen Trayvon Martin.
Zimmerman had to post 10% of the $1 million - or $100,000 - to meet the requirement for release.
He wore a white dress shirt under a gray suit as he walked out of jail and into a waiting SUV.
"We are confident and comfortable that George will be safe," Zimmerman's attorney, Don West, told CNN outside the jail following his client's release.
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