The three women held hostage for 10 years before their escape this week were released from a Cleveland hospital in good condition, officials said Tuesday.

Amanda Berry, Gina DeJesus and Michelle Knight were held hostage in a Cleveland, Ohio, home but were rescued on Monday after Berry escaped by breaking through the bottom of the home's front door, got the attention to a neighbor and called 9-1-1. Berry is the mother of a 6-year-old girl also found in the Cleveland home. The prime suspect in the case is the owner of the home where the women were held against their will all these years.

Ariel Castro, 52, was taken into custody Monday along with his two brothers - Pedro Castro, 54, and Onil Castro, 50, - who are suspected of involved in the crime. Cleveland Deputy Police Chief Ed Tomba said at a news conference on Tuesday charges would be filed within 36 hours of the three suspects' arrests.

"Prayers have been answered," said Steve Anthony, head of the Cleveland FBI office. "The nightmare is over. These three young ladies have provided us with the ultimate definition of perseverance."

The women were released Tuesday morning from the Metro Health Medical Center.

Listen to Berry's 911 Call

Authorities are investigating whether the three women were kept in the home as sex slaves, according to New York Daily News. Officials believe all three were kept tied up inside the house.

Castro is a former school bus driver in Cleveland. Records showed that he was arrested for domestic violence and disorderly conduct in December of 1993. The case was dropped after a grand jury disputed the charge.

Who is Ariel Castro? PHOTOS

Castro's family members have come out to speak about the horrific crime since he was taken into custody. His uncle, Julio Castro, told CNN, "I never want to see them again. For me, it's bad on one side and good on the other side."