According to Hamas, Yusef, who was elected to the Palestinian parliament in 2006 while in Israeli custody, worked within Hamas' political wing.
"Occupation forces (Israel) on Thursday released Hassan Yusef after he was in administrative detention for an entire year," Hamas was quoted by Reuters as saying.
Israel's military officials, for their part, declined to comment on the matter.
Yusef was detained in June 2014 amid a round-up of hundreds of Hamas members in the West Bank.
As for Yusef, he is known for having disowned his 36-year-old son, who earlier admitted to being a top informer for Israel's domestic security service under the codename "The Green Prince". The incident dated back to September 2000, amid the Second Intifada, a Palestinian uprising against Israel.