Family members of the returnees, said by US sources to number 15 or 16, were gathered at King Khaled airport to meet the plane, but the media was kept away from the scene.
Saudi officials gave no indication as to the number of Guantanamo arrivals, all of whom were to be interviewed by authorities here.
Their release was announced a short while earlier in Washington by a US State Department spokesman as Secretary of State Condoleezza Rice was welcoming her Saudi counterpart Saud al-Faisal.
"We have reached an understanding with the Saudi government on the return of some Saudi nationals to Saudi Arabia," said State Department spokesman Sean McCormack. "They'll be under the control of the Saudi government."
Hours later, the Pentagon said the transfer had completed. Mr McCormack said the United States and Saudi Arabia had been discussing for some time conditions for releasing the Saudis from the US naval base at Guantanamo.
In addition to commitments to bar the freed men from terrorist activity,
Mr McCormack said: "We were able to assure ourselves that if these people were returned to Saudi Arabia that they wouldn't be tortured and they would be treated humanely."
The latest transfer leaves about 460 prisoners still at Guantanamo, the Pentagon said.
McCormack spoke of 15 Saudis released while the US press, citing Saudis sources, put the number at 16.
The US military-controlled Guantanamo facility was opened as a detention center for suspects in the US war on terror after the September 11, 2001 attacks in the United States.
This week the Pentagon released a list of what it said were 759 detainees who have been held at Guantanamo. But it left open the possibility that others have been held there by other government agencies.