US District Court Judge Anthony Trenga in Alexandria, Virginia, ordered Manning released because the grand jury hearing the case had concluded.
Former Army intelligence analyst Chelsea Manning who served years in prison for leaking US classified documents was jailed again after refusing to testify before a federal grand jury.
Several women have accused the singer and producer of having sex with underage girls and of surrounding himself with women whom he uses as sex slaves.
Manning, who was granted clemency by former US President Barack Obama, was released in May from a US military prison.
Responsible for providing secret documents to WikiLeaks, the US soldier will stay on active duty in a special status while her court-martial conviction is under appellate review.
Chelsea Manning, Cuba, Russia, fake news and cordial terms with Donald Trump - the press corps put US President Barack Obama on the briefing room hot seat for one last time.
Chelsea Manning became one of the most well-known whistleblowers in US history after releasing hundreds of thousands of classified documents. Now, freedom is in sight, after Obama commuted her sentence during his final days in office.
The former US army intelligence analyst is one of 209 prisoners whose jail term was cut short by outgoing US President Barack Obama.
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