The black-cab driver is believed to have carried out more than 100 rapes and sexual assaults on women in London between 2002 and 2008.
Worboys, now aged 60, gave his victims drug-laced champagne before attacking them in the back of his cab.
In 2009, he was convicted at Croydon Crown Court of 19 offences and ordered to serve at least eight years in jail.
The following year police said other women had come forward and that the suspected number of his victims now totalled more than 100.
The cabbie offered them Champagne spiked with powerful sedatives to celebrate a fictional lottery win, backed up with a carrier bag stuffed full of cash, claiming he had won the lottery or had won money at casinos.
The drugs left the women insensible and unable to protect themselves as he pounced on them in the back of the vehicle.
In 2014 Mrs Wistrich’s clients won their High Court bid to receive compensation from the Met Police over the way the case was handled.
At the time Mr Justice Green said “systemic” failures in the investigation meant Worboys was not stopped earlier.
Worboys’ period on licence lasts for at least 10 years and he can be sent back to jail if he breaches the conditions.
He has been released after a case hearing in November in which the Parole Board agreed to allow him to go free with ‘stringent’ conditions he must report to probation staff on a weekly basis.
He is also banned from contacting ANY of his victims.
Worboys, a former stripper from Rotherhithe, south-east London, has spent 10 years in custody including a period on remand.
Kathy Martin, 44, who had been his girlfriend for a year at the time of his arrest, said she had no idea of his ‘double life’. She said he gave no clues about his predatory night-time activities and she was left dumbstruck when police knocked on her door.