Warren Sapp has just been released from custody without bail ... and is allowed to leave the state and go back home to Florida after a judge decided he's not a flight risk.
Sapp just appeared before a judge in Maricopa County, AZ to face charges of soliciting a prostitute and assault.
During the hearing the judge says there was proper cause for his arrest -- but decided to let him go on his own recognizance because he has no record of failing to appear in other court cases.
The judge told Sapp he is forbidden from contacting the victims and may not return to the scene of the alleged crime -- but he did get the green light to leave the state and go home.
Sapp is due back in court on February 23rd.