The prisoners are Suraj Ram, Sohan Lal, Mohamed Maqbul Lone and Abdul Majid.
"Four Indian civil prisoners were released in Pakistan and they have crossed over to India this afternoon," Spokesperson in the External Affairs Ministry Gopal Baglay said.
He said they were released from Pakistani jails on completion of their sentences.
The release of the prisoners by Pakistan comes amid escalating tensions between the two countries over a range of issues.
Details of the offences for which they were imprisoned were not immediately available.