The five were dehydrated, hungry and terrified following their ordeal which began Thursday when they sought refuge in the forest canopy after an attack by the tigers, which left a sixth man dead.
They were hunting for rare wood used to make incense, but provoked the ire of the critically endangered animals when they accidentally killed a tiger cub in a trap set to catch antelopes and deer for food.
They did not dare approach, so called in three local animal tamers.
"The rescue team stood back while the tamers approached the animals and chanted some mantras," district police chief Dicky Sondani told AFP.
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"The tigers eventually just left."
He said that by the time the rescuers arrived, the men "were very scared. They were also dehydrated and felt faint from not eating".
They survived by drinking rainwater, he added.
The case is the latest example of animal-human conflict in Sumatra, where rampant logging has caused the numbers of some endangered species to dwindle dramatically.
The Sumatran tiger is the world's smallest tiger. There are only an estimated 400 to 500 still alive in the wild.
The greater Leuser ecosystem is also home to around 5,800 of the remaining 6,600 critically endangered Sumatran orangutans as well as elephants and tigers.