AL AHSA, Saudi Arabia—Saudi Arabia on Thursday released two women who were held since December for challenging the country’s ban on female drivers.

Loujain Al Hathloul and Maysaa Al Amoudi were released from a jail in the eastern region of Al Ahsa after 72 days in detention. Ms. Hathloul’s lawyer confirmed her release on Twitter. Ms. Amoudi’s husband confirmed her release in a message to The Wall Street Journal.

“Praise...