The police had made tight security arrangements.
A judge signed off Khan's bail on a bond of 50,000 rupees ($770), his defense team said.
Khan will next appear in court on 7th May 2018 for another hearing.
He will also need to seek permission from the court before travelling overseas.
The five other co-accused - actors Saif Ali Khan, Tabu, Neelam, Sonali Bendre & businessman Dushyant Singh were acquitted by the court. The next hearing for the case will be heard on May 7th.
Salman had spent two nights in the Jodhpur Central Jail after his sentencing on Thursday.
However, Khan has now been granted £550 bail while he appeals against his conviction.
Khan's army of fans and the Bollywood elite were stunned by the court sentence in the 20-year-old case. "Court will only see witness, prosecution and defence", says Lalit Bora, investigating officer of the case. And so, in order to ensure that Salman Khan is released from jail today, the lawyers will have to complete all paperwork in the next few hours. However, the sudden transfer orders seem to have created a chaos.
The district and sessions court heard arguments on the suspension of sentence and bail application before deferring the matter till today. "The hearing will commence again on Saturday morning", public prosecutor Pokhar Ram Bishnoi said on Friday.
After Khan was granted bail, his friends and well-wishers from the film industry expressed their happiness over the decision. After the bail, Salman is expected to resume work on Remo D'Souza directorial Race 3.
"The accused is a popular actor whose deeds are followed by people". They were in the jeep that Salman Khan was believed to be driving during the hunt in 1998.
Forbes ranked him 71st in its list of the world's highest-paid celebrities and the ninth-highest paid actor, estimating he raked in $37 million in 2017.