Brett and Naghemeh King took Ashya, who was recovering from surgery to remove a brain tumour, to Spain, where they were planning to sell their home in the country to fund proton beam treatment abroad, as it was not available in the UK.
The treatment is argued to be less damaging as the radiation directly targets tumours.
After they were caught, in Malaga, Brett and Naghemeh were separated from their Ashya and were taken to separate wings of a Spanish jail.
But tonight, the pair walked free from the prison and are expected to be reunited with Ashya in the coming hours.
Pressure has been mounting on the UK government to make the CPS drop their case against the parents and earlier today, it was confirmed prosecutors in London terminated their arrest warrant.
They said they’d halted criminal proceedings as “there is insufficient evidence for a realistic prospect of conviction for any criminal offence.”
We will keep you updated on this story as it develops.