DeJesus' father pumped his fist after arriving home with his daughter, and urged people across the country to watch over the children in their neighborhoods — including other people's kids.
"Too many kids these days come up missing, and we always ask this question: How come I didn't see what happened to that kid? Why? Because we chose not to," he said.
The third captive, Michelle Knight, 32, was reported in good condition at Metro Health Medical Center, which a day earlier had reported that all three victims had been released. There was no immediate explanation from the hospital.
The Associated Press does not usually identify people who may be victims of sexual assault, but the names of the women were widely circulated by their families, friends and law enforcement authorities for years during their disappearance.
Police submitted four affidavits detailing the allegations against Castro — four kidnapping charges and three rape charges.
The affidavits say Berry, DeJesus and Knight each were lured into Castro's vehicle and then held captive at the home on Seymour.
"During this time period, the victim was repeatedly sexually assaulted by the defendant," Cleveland police Det. Andrew Harasimchuk wrote in each of the affidavits.
Castro was accused of twice breaking the nose of his children's mother, knocking out a tooth, dislocating each shoulder and threatening to kill her and her daughters, according to a 2005 domestic-violence filing in Cuyahoga County Domestic Relations Court.
The filing for a protective order by Grimilda Figueroa also said that Castro frequently abducted her daughters and kept them from her. Figueroa died in April 2012 after a battle with cancer.
Figueroa's father, Ismail Figueroa, said Wednesday that Castro would regularly lock his daughter inside a second-floor apartment in the house where they lived when they were first together.