US Army Col Mike Lawhorn, a military spokesman, said Wednesday "all casualties have been evacuated" following hours-long fighting the day before near the city of Marjah, in southern Helmand province.
Their evacuation was delayed yesterday when one helicopter took fire and was unable to land, and another was unable to take off.
Lawhorn says US special forces were advising their Afghan counterparts during the battle.
The Taliban have recently attacked a number of cities in Helmand, one of several fronts where the insurgents have advanced in the year since the US and NATO formally concluded their combat mission.