Baltimore on Sunday lifted an overnight curfew imposed after riots sparked by the death of a black man in custody, reports the BBC.
National Guard troops are now pulling out of the city. The curfew was put in place on Tuesday, after protests over Freddie Gray's death turned violent.
Six police officers are facing criminal charges over the death, which has been ruled a homicide. They deny wrongdoing.
Gray was arrested on April 12 and died a week later from injuries sustained in the back of a police van.
Under the curfew, residents were ordered to stay home from 10:00 p.m. until 5:00 a.m., and officials had been expected to keep it in place for another day, but Baltimore Mayor Stephanie Rawlings-Blake said Sunday she did not want to maintain it any longer than was necessary.
"My goal has always been to not have the curfew in place a single day longer than was necessary," the mayor wrote on her Twitter account. "I believe we have reached that point today."
Protests in Baltimore have continued since looting and arson erupted on Monday night - which prompted the deployment of the National Guard. However the demonstrations have been largely peaceful since then.
Maryland Governor Larry Hogan said the state of emergency in the city would not be lifted until the last soldier had left, according to the BBC.
The charges against the officers - ranging from manslaughter to second-degree murder - have eased tensions, though a lawyer for the six officers insisted they had done "nothing wrong".
President Barack Obama on Friday said that it is "absolutely vital" that the truth about what happened to Gray comes out.
Obama said that justice needs to be served and all the evidence needs to be presented, adding that the individuals facing charges are entitled to due process.
He added that what the people of Baltimore want most is the truth.