The sailors were released after talks between the owners of the ship and pirates.
Pavel Butsay, a human rights activist in the city of Sevastopol, said the sailors were at a Frankfurt airport and planned to return home next week.
Butsay said that a ransom was paid but did not reveal the sum, according to Reuters.
Security experts class West Africa's waters, especially off Nigeria where many pirates originate, as some of the world's most dangerous, with attackers often targeting oil tankers and holding hostages for ransom.