Thee Cuban intelligence agents have been given heroes' welcomes as they landed back in their homeland after 16 years in prison in the US.
It comes as US President Barack Obama announced his country will restore diplomatic relations it severed with Cuba more than 50 years ago.
As part of a prisoner swap under the new policy, Cuba freed American Alan Gross in exchange for the three Cubans held by the United States.
The United States and Cuba are moving to "normalise" diplomatic relations after more than 50 years of separation, President Obama is expected to announce.
Senior U.S officials, previewing Obama's forthcoming announcement, said the United States and Cuba will move to open embassies in each other's capitals, Reuters reports.
President Obama spoke on Tuesday to Cuban President Raul Castro to discuss the changes in a call that lasted nearly an hour.
As part of the relaxation in relations, Secretary of State John Kerry is expected to review Cuba's status as a state sponsor of terrorism.
"These steps will be the most significant changes to our Cuba policy in more than 50 years," a senior administration official told reporters.
"What we are doing is beginning the normalisation of relations between the United States and Cuba."
The Democratic presidential candidate may also have shown his cards on his choice of running mate.
The US president also shared a post on Twitter accusing Dr Anthony Fauci of misleading the public over hydroxychloroquine.
Fears over an impending second wave of coronavirus dominates Wednesday’s front pages.