Before the decision was announced, Simpson was asked questions by the Nevada parole board.
Under the conditions of his parole, Simpson would be subject to supervision and possibly a year of community service in Nevada.
Simpson, 70, spoke from Lovelock via video link and the four members of the seven-member board considering his parole, were in Carson City Nev.
Simpson had been jailed for his part in a Las Vegas hotel room heist after being convicted of several charges including kidnapping.
Simpson was found not guilty in 1995 of the grisly murders of his ex-wife, Nicole Brown Simpson, and her friend, Ron Goldman, in a racially charged case that transfixed USA and became known as the "Trial of the Century".
"He's served 9 years, so it's time to let him go", said Michael Hornbeck of Naples.
"I always thought I've been pretty good with people", Mr. Simpson told the board.
Mr. Fromong said Mr. Simpson did not pull a gun on him and admitted that he did possess some of his sports memorabilia. "I've done my time".
Bruce Fromong, one of the victims of Simpson's robbery, said Simpson made a mistake. - The Nevada Parole Board has granted OJ Simpson his freedom, reports CBS evening news.
OJ's oldest daughter Arnel testified on behalf of her dad, pleading with the board to release him. I had no intent to commit a crime.I'd like to get back to my family and friends.
"He's my best friend", she said. "None of this would have happened if I'd had better judgment".
All four parole commissioners who conducted the hearing voted for his release after a half-hour of deliberations. Simpson said he was ready for life outside prison, to spend time with his children and friends and could handle the public attention he would get on the outside.