"And with that, I hope to continue my work and continue to protest my innocence in this matter," Assange said.
The judge denied an appeal against granting bail, saying he did not believe Assange would run if granted bail because that would make all his supporters look "naive, foolish and stupid."
Several supporters offered to assist in paying Assange's bail, including documentary filmmaker Michael Moore, who pledged $20,000.
Though he is out of prison, Assange must surrender his passport and remain in the United Kingdom where he plans to stay with a friend. He will have an electronic tag to verify that he is at that address overnight and must daily report to police.
Assange had been held in solitary confinement -- for his own protection, the jail said -- in "the bottom of a Victorian prison," he said. His lawyers said he is being held in a wing normally reserved for convicted criminals, cut off from other prisoners and is only allowed a half hour a day outside the cell.
Though he's currently fighting extradition to Sweden for the sexual assault charges, Assange could also be the target of coming espionage charges from the U.S., one of his lawyers told ABC News last week.
The timing of the arrest earlier this week led a WikiLeaks spokesperson, Stephens and hundreds of Assange's supporters to claim the sex charges were part of a political effort to marginalize the WikiLeaks founder in the face of the document drop, which has proved an embarrassment and potential security risk for the U.S. government.
But a lawyer for the two Swedish women accusing Assange said the charges are in no way politically motivated and the woman are angry at that suggestion.
Assange has denied the sex crimes charges and after his arrest, Stephens told ABC News Assange is ready "to vindicate himself and clear his good name."