"Justice delayed is justice denied, and I am deeply sorry for that," Sage said in her decision.
During a news conference with the Innocence Project after her release, Jimenez thanked supporters for sticking by her "all these years."
"Thank you so much, and I am just going to try to live my life with my kids," Jimenez said.
The Innocence Project, which is representing Jimenez, said Jimenez has advanced kidney disease that makes her particularly vulnerable to Covid-19, which has ravaged prisons throughout the US.
Jimenez was sentenced to 99 years in prison. After her release on Wednesday from the Mountain View Unit in Gatesville, about 160km north of Austin, she was taken into custody by US Immigrations and Customs Enforcement, because she was not in the US legally when she was arrested.
She was then taken to the Mexican Consulate in San Antonio.