Those held captive yesterday included - one forest guard Devendra Singh and three home guards Mosaram Meena, Ramesh Gujjar and Radhey Gujjar, Sawai Madhopur Param Jyoti said.
After negotiations which lasted several hours, the villagers released them around 4 am today, she said.
A forest department team held one suspected poacher Kishan Mogya while he was allegedly firing in farms in Khandar area on Friday night.
Six guards went to the spot next morning in a jeep to collect evidences of poaching when the villagers surrounded them.
"Two guards managed to escape but the villagers armed with batons held remaining hostage," Jyoti said.
"On information, force was dispatched to the spot but more than 1000 villagers had gathered there and demanded release of the poacher. The guards were also thrashed by the villagers", she said.
After their release, the security guards were taken to the district headquarter for medical examination.
A case will be registered in the matter, she said.
