Shiney's lawyer furnished a bail bond of Rs 50,000, the court order and other relevant documents to the jail authorities following which the actor was released.
Clad in a pink T-shirt, the actor came out of the prison gates and got into a waiting car with his wife Anupam Ahuja and left without speaking to the media.
Shiney, who was sentenced to seven years imprisonment by a trial court on March 30 for raping his maid, was granted bail by the high court last week.
Shiney had filed an appeal in the high court challenging the conviction and sought to be released on bail. Justice A R Joshi while granting him bail had observed that his custody was not required for now but asked him to not leave the country without court's permission.
The actor was arrested in June 2009 after his domestic maid lodged a police complaint alleging that she was raped by the actor at his suburban residence.
Though the victim had turned hostile during the trial and claimed she was not raped, relying on circumstantial evidence the court convicted Shiney and sentenced him to seven years' rigorous imprisonment.