Secretary of State John Kerry said the resolution of the matter was "testament to the critical role diplomacy plays in keeping our country safe".
Republican presidential hopefuls had criticised the administration over its handling of the incident.
A deal on Iran's nuclear activities - which they also disparage - is said to be days away from implementation.
The sailors were detained on Tuesday when one of their two vessels broke down while training in the Gulf.
The incursion was "unintentional", a statement from the Iranian Revolutionary Guards quoted by state media said.
Iranian state media said the sailors were released into international waters after they apologised.
But Vice-President Joe Biden denied this, saying the boat had had simply a problem and there was "nothing to apologise for"...
BBC
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