Jonathan Pollard served 30 years for giving away classified USA documents and had been confined by parole terms to the United States since his release in 2015, despite Israeli pressure to allow him to leave.
Israeli Prime Minister Benjamin Netanyahu reportedly raised Pollard's case in his meetings with Trump. Advocates have said that has always been Pollard's wish.
As a young analyst in the mid-'80s, Pollard said he had evidence that the USA was withholding information from its close ally, Israel.
About a year-and-a-half into his espionage, Pollard was arrested while trying to gain asylum at the Israeli Embassy in Washington, and he later pleaded guilty in order to avoid a trial. But after serving 30 years in federal prison, he was released on November 20, 2015, and placed on parole.
But the White House quickly shot down that prospect, saying Pollard had committed "very serious crimes" and the president had "no intention of altering the terms of Mr. Pollard's parole".
After his release in 2015, he remained subject to a curfew, had to wear a wrist monitor, and was prohibited from working for any company that lacked USA government monitoring software on its computer systems.
Netanyahu visited Esther Pollard repeatedly throughout the years of her husband's incarceration and subsequent probation. The Trump administration also has recognized that Israel's capital is Jerusalem.
Pollard, 66, has sought to move to Israel, which granted him citizenship while in prison and had long pushed for his release.
The U.S. Parole Commission declined to renew Pollard's parole conditions and issued a certificate terminating parole and lifting all parole restrictions, according to a statement on Friday by Pollard's lawyers, Eliot Lauer and Jacques Semmelman.
"We are grateful and delighted that our client is finally free of any restrictions, and is now a free man in all respects", Mr Pollard's lawyers said.
"The prime minister expects Jonathan Pollard to arrive in Israel soon", a WhatsApp message from the premier's office said. "We look forward to seeing our client in Israel". "The Prime Minister thanked Israeli Ambassador to the United States Ron Dermer for responsibly and sensitively leading the contacts with the administration". "Now we will be able to welcome him and his family home, with the blessing "Blessed are You, who releases prisoners" after many hard years of imprisonment and restrictions, to a new life of health and peace", he said.