Tamimi was arrested in December 2017 after a video of her slapping and hitting two Israeli soldiers outside of her house in the village of Nabi Saleh went viral.
Palestinian teenager Ahed Tamimi and her mother Nareman walk out after they were released from an Israeli prison, at Nabi Saleh village in the occupied West Bank July 29, 2018. Ahed Tamimi, who comes from a family of prominent activists, turned 17 during her eight months behind bars.
The statement said the three, who were masked, "illegally drew on the wall, and when border policemen took action to arrest them, they tried to escape in their vehicle, which was stopped by the forces".
Her now-familiar image has been painted on Israel's separation wall cutting off the West Bank. This is Palestinian activist Ahmed Odeh.
After being released by the soldiers, Tamimi made brief comments to crowds and journalists gathered, saying she hoped everyone would come to a news conference later in the day.
"The resistance continues until the fall of the occupation, and of course the (female) prisoners in jail are all strong", Ahed Tamimi said, her voice barely audible above the crowd.
Ahed will be released along with her mother Nariman at the Jabara checkpoint near the Palestinian city of Tulkarem.
In Israel, however, she is seen by many as a provocateur, an irritation or a threat to the military's deterrence policy.
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As part of a plea bargain, Tamimi agreed to serve eight months in prison and pay a fine of $1,375. Thirteen days later, she was charged with alleged assault, incitement, and throwing stones at Israeli military soldiers.
Tamimi's family arrived at a checkpoint in the West Bank, where they spoke briefly to reporters before heading to their home village of Nebi Saleh.
Then she visited the home of a relative who had been shot dead by Israeli forces during a demonstration.
He said his daughter is considering what university to attend and plans to study law.
Ahed's case has trained a spotlight on the detention of Palestinian minors by Israel, a practice that has been criticised by worldwide rights groups. According to statistics released by Israeli rights group B'Tselem earlier this month, 291 Palestinian minors were held in Israeli prisons as security detainees and prisoners.
Israeli police say they were caught in the act along with another Palestinian and arrested for vandalism.
They are being transferred by the army to the Palestinians territories.