A 10:00 pm to 5:00 am curfew was imposed Tuesday following chaotic scenes that saw mobs looting shops, smashing store windows and setting cars ablaze.
But recent protests have been largely peaceful and a growing chorus of community members and business owners called for the curfew to be lifted.
"Effective immediately, I have rescinded my order instituting a city-wide curfew," Mayor Stephanie Rawlings-Blake wrote on Twitter.
"I want to thank the people of Baltimore for their patience."
Protests erupted in Baltimore and several major US cities following the death of Freddie Gray, a 25-year-old Baltimore man who died from injuries sustained while in police custody.
Six officers were charged in the case on Friday.