He landed in Miami, after being escorted to the airport in Guatemala City.
McAfee before leaving said that he was ‘perfectly happy with the decision’, the BBC reports.
“I've been running through jungles and rivers and oceans and I think I need to rest for a while. And I've been in jail for seven days,” he said.
He had been detained a week ago after fleeing from Belize, where he is wanted for questioning in connection with the murder of a neighbour.
The 67-year-old has spent more than a month on the run with his girlfriend, blogging about his exploits.
He said he had no immediate plans after reaching Florida, and he was only going ‘to hang in Miami for a while’.
In an interview with Bloomberg Television ahead of his departure, McAfee said he was apologising to the Guatemalan president for putting him in an awkward position during negotiations on a territorial dispute with Belize, the report said.
His lawyers have blocked an extradition request from Belize, where he has been named a ‘person of interest’ in the murder of Florida businessman Gregory Faull.
He has claimed that he is being persecuted by the authorities in Belize, whom he accused of corruption, the report added.