Evan Gershkovich, Alsu Kurmasheva, and Paul Whelan were part of an agreement that saw 24 prisoners released in the biggest prisoner swap between Russia and the West since the Cold War.
They were met on the tarmac at Joint Base Andrews in Maryland by US President Joe Biden and Vice President Kamala Harris.
Photos recorded the emotional reunion of American prisoners and their families.
Mr Gershkovich, a Wall Street Journal reporter, was spotted hugging his mother Ella Milman, while Ms Kurmasheva had an emotional reunion with her husband Pavel Butorin and children Miriam Butorin and Bibi Butorin.
The liberated Americans remained on the tarmac in Maryland, soaking up the moment of their homecoming to the United States.
They took photographs with family and friends, hugged Mr. Biden and Ms. Harris, slapped loved ones on the back, and kissed them.
At one point, Mr. Biden handed Mr. Whelan the flag pin from his own lapel.
