"The Chong Chon Gang passed through the Panama Canal early this morning bound for Pyongyang with 10,200 tons of sugar," the lawyer for its crew, Julio Berrios told AFP.
Panama Canal administrator Jorge Quijano confirmed the ship had transited the canal without incident.
Its passage largely puts an end to a saga that began July 10, 2013 when the ship was boarded on suspicion it was carrying drugs from Cuba.
The ship's 35 crew members were arrested and the ship and cargo seized for potential violations of a UN weapons embargo and as a threat to the canal's security.
More From This Section
After paying a one million dollar fine, the ship was allowed to leave on February 15 with 32 crew members, minus its cargo and three senior crew members charged with arms trafficking.
The Chong Chon Gang sailed back to Cuba to pick up a replacement cargo of sugar and returned through the canal.