Sydney: Guantanamo Bay terror convict David Hicks was released from prison on Saturday after spending more than six years in jail.

Hicks returned to Australia from Guantanamo Bay in May after pleading guilty to terrorism charges. He left prison in his hometown of Adelaide, Australia.

Hicks walked out of Adelaide's maximum security Yatala prison and was immediately driven away to a secret location in a blue sedan, escorted by police.

In a statement read by his lawyer, Hicks asked for privacy and said he would need time to readjust to society.

"Right now I am looking forward to some quiet time with my wonderful Dad, my family and friends," Hicks said through his lawyer David McLeod.

Hicks also said he would need to get medical help for "the consequences of five and a half years at Guantanamo Bay".

Hicks was captured in Afghanistan in late 2001. He admitted training with Al Qaida and meeting Osama Bin Laden several times.

Hicks will still be subject to a strict control order that includes a midnight to dawn curfew. He will not be allowed to leave Australia.