According to MANA, The sailors from China, the Philippines, Cambodia, Indonesia, Vietnam and Taiwan were seized when the Omani-flagged FV Naham 3 was hijacked close to the Seychelles in March 2012, when pirate attacks were common in the area.
Their period of captivity is one of the longest among hostages seized by pirates in the anarchic Horn of Africa nation.
Steed said one member of the crew had died during the hijacking while two succumbed to illness. Among those released, one was being treated for a gunshot wound on his foot and three were diabetic.
The sailors were held in Dabagala near the town of Harardheere some 400 km (250 miles) northeast of the capital Mogadishu. Harardheere became known as Somalia's main pirate base at the height of the crisis.