"They are fine, but as a matter of procedure they will have to undergo stress debriefing and a medical check-up," Philippine Brigadier General Domingo Tutaan said.
"We are happy that this has been resolved and the soldiers have been released seemingly unharmed," he said.
In March, the Martyrs of Yarmouk detained 21 UN observers from the Philippines, before releasing them three days later.
Israel regime occupied the Golen Heights in the closing stages of the 1967 Six-Day War. UN Disengagement Observer Force (UNDOF) was put in place to monitor the zone. It has 917 lightly-armed military personnel from Austria, India, the Philippines, Morocco and Moldova.
UN spokeswoman Josephine Guerrero said the Filipino peacekeepers were abducted while patrolling near Position 86 inside the zone, about 4km (2.5 miles) from the Jordanian border.