About 1,000 doctors outside the court celebrated the officials' release and held a peaceful march to Parliament and Nairobi's Freedom Park.
More than 5,000 doctors from public hospitals are on strike for a 180 percent pay raise and to protest Kenya's dilapidated health care system.
At least a dozen people have died due to lack of medical care since the strike started early December over the government's fail to implement a collective bargaining agreement it agreed upon in 2013.
Pressure had been mounting on government after the seven doctors were jailed Monday. A peaceful vigil by their colleagues was dispersed by paramilitary police. Doctors from private hospitals protested the imprisonment of the seven by calling a 48-hour strike that started Wednesday and has paralyzed Kenya's health care.
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The Kenya Medical Association de-registered the health minister and the principal secretary in the health ministry for a year for "disgracing the organisation."
Currently doctors, who train for six years in university, earn a basic salary USD 400-USD 850 similar to some policemen who it takes six months to train.