US Secretary of State John Kerry has welcomed the release of one of three Americans held in North Korea and said Washington is willing to resume talks with Pyongyang if it takes steps towards de-nuclearisation.

Jeffrey Fowle, 56, was arrested in May for leaving a Bible at a sailor's club in the North Korean city of Chongjin. He was freed on Tuesday and flown from Pyongyang on a US government plane, without, Mr Kerry said, any quid pro quo.

North Korea's KCNA state news agency said Kim Jong Un, the country's leader, released Mr Fowle taking into consideration "repeated requests" of US President Barack Obama.

"The criminal was handed over to the US side according to a relevant legal procedure." KCNA said.

Mr Kerry, speaking in Berlin, expressed hope de-nuclearisation talks with Pyongyang could start again soon, again holding out the prospect the US could eventually begin reducing its regional military presence.

Mr Kerry said: "We've said from day one that if North Korea wants to rejoin the community of nations it knows how to do it - it can come to the talks prepared to discuss de-nuclearisation.

"The US is fully prepared, if they do that and begin that process, to begin the process of reducing the need for American force and presence in the region because the threat itself will then be reduced."