The plight of the three came to light after a Whatsapp video of a Saudi employer allegedly beating them with a wooden plank surfaced.
Kerala government and the external affairs ministry had intervened to help them.
As the trio arrived at Thiruvananthapuram airport in the wee hours, their relatives and friends welcomed them.
Baiju, Abilash and Vimal Kumar had been taken to Saudi Arabia by a placement agency a couple of months back after promising them job opportunities.
Twenty one-year-old Abilash told reporters that he had taken loan to build a house and had hoped that employment abroad will help him clear his loan fast. However, that was not to be.
Their relatives said it was a relief seeing their near ones back safe.
External Affairs Minister Sushma Swaraj had earlier stated in New Delhi that the three men had been given police protection and the matter was being followed up.