Stephen McGown, who was released on July 25, was the longest-held of a number of foreigners seized by Islamic extremists in Mali, where several armed groups roam the West African country's north.
The extremists have made a fortune over the last decade abducting foreigners in the vast Sahel region and demanding enormous ransoms for their release.
McGown was kidnapped in 2011 at a hostel in Timbuktu, where he had been traveling as a tourist. He also has British citizenship.
South Africa's minister for international relations, Maite Nkoana-Mashabane, said the government does not pay ransom in hostage situations.
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"We can confirm that he has been released without any conditions whatsoever," Brian Dube, spokesman for the Ministry of State Security, told The Associated Press. He said Mali's government, non-governmental groups and other individuals were involved in negotiations but didn't give details.
McGown's release follows that of Swedish national Johan Gustafsson, who was freed in late June after being kidnapped along with McGown in November 2011.
In early July, the 42-year-old McGown was included in a proof-of-life video released by the al-Qaida-linked Nusrat al-Islam wal Muslimeen group in Mali. The video showed six foreign hostages shortly before French President Emmanuel Macron arrived for an anti-terror summit.
"No genuine negotiations have begun to rescue your children," a narrator of the video said.
Gift of the Givers, a South African charity, had tried to secure the release of McGown and Gustafsson since 2015, sending a negotiator into remote parts of Mali and Niger. "We have reached a dead end," Gift of the Givers said in a May 17 statement.
In May, McGown's mother, Beverley McGown, died after an illness after waiting in vain for years for her son to be freed. McGown's father on Thursday told reporters his son "will pick himself up" and rejoin life at home after the loss. McGown's wife, Catherine, described their first exchange on reuniting: "He looked at me and said, 'Wow, your hair's grown!' I said, 'Your hair's longer than mine now!'"
Dube, the Ministry of State Security spokesman, didn't give details about the conditions of McGown's captivity but said he was "in good health, his mind is sharp and he was looked after well." He has had multiple medical checkups and has been told to rest, Dube said.
Islamic extremists seized control of Mali's north in 2012. While they were forced out of strongholds a year later by a French-led military intervention, jihadists continue to attack Malian and French soldiers and U.N. Peacekeepers.
Five regional countries - Mali, Mauritania, Niger, Burkina Faso and Chad - have now created a 5,000-strong multinational military force against the extremists.