Pakistani TV footage showed Wing Commander Abhinandan Varthaman crossing into India at the Wagah crossing point just before 9 pm local time (1600 GMT) on Friday.
Indian officials confirmed the news, saying Varthaman would be taken to a hospital for medical checks.
He had been captured after Pakistan shot down his MiG-21 fighter jet, which Islamabad said violated Pakistani airspace.
Pakistan’s Prime Minister Imran Khan had said on Thursday that his administration would return the captured pilot “as a peace gesture” to India.
The tensions between the two neighbors escalated following a car bombing that killed at least 40 Indian paramilitary forces in Indian-controlled Kashmir on February 14. India accused the main Pakistani intelligence agency of involvement and vowed retaliation. The tensions then reached a peak on Tuesday, when India said it had conducted “preemptive” airstrikes against what it described as a militant training camp in Pakistan’s Balakot.