The truck drivers are now on their way back to Turkey through northern Iraq but a separate group of almost 50 kidnapped Turks remain in captivity, Foreign Minister Ahmet Davutoglu told reporters.
"The 32 drivers were delivered to our consul," Davutoglu said in Ankara, adding that they were now on their way to the city of Arbil in the relatively stable Kurdistan region of northern Iraq.
Previous reports had said 31 truck drivers had been held. They had been kidnapped by militants from the jihadist group the Islamic State of Iraq and the Levant (ISIL) who now control swathes of the country.
Davutoglu said that the foreign ministry had been informed of the impending release yesterday night by the Turkish intelligence agency but had not made any announcement until now for security reasons.
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He said he had spoken with one of the drivers today and said that they were unharmed but one of them may need medical treatment.
A government official told AFP one of the drivers, suffering from heart problems, had been carried to Arbil in an ambulance.
Turkish television channels aired pictures of the drivers on a bus, all looking relaxed and smiling.
There was however no information regarding their whereabouts.
"We will continue to work day and night to bring back the remaining citizens," said Davutoglu.
The official said negotiations were continuing with different groups in Iraq, including tribes, for the release of Turkey's abducted citizens.
The kidnappings sparked intense concern in Ankara over the rise of radical Islamist groups across the border in Syria and Iraq.