Former Rio Tinto executive Stern Hu has been reunited with his family in Shanghai after completing a nine-year prison sentence in China on bribery charges, closing a dark chapter in Australia's tumultuous relationship with its largest trading partner.

China's Foreign Ministry confirmed on Wednesday that Mr Hu, an Australian citizen, was released. Sources said prison authorities made arrangements for the Australian citizen to meet his family shortly after leaving Shanghai's Qingpu prison, where he has served nine years in detention.