Ten US Navy sailors held by Iran in the Gulf left Wednesday aboard the two vessels they were operating when they were picked up, the Pentagon said.

"There are no indications that the sailors were harmed during their brief detention," a statement said, adding: "The Navy will investigate the circumstances that led to the sailors' presence in Iran."

A dramatic series of events started with the sailors -- nine men and a woman -- being taken to Farsi Island after their two Navy patrol boats drifted into Iranian territory late on Tuesday.

US and Iranian officials scrambled to defuse the situation, which unfolded as Iran prepares to finally implement a nuclear deal with world powers aimed at ending the Islamic republic's long international isolation.

"The sailors departed Farsi Island... aboard the two Riverine Command Boats (RCB) that they had been operating when they lost contact with the US Navy," the Pentagon said.

"The sailors were later transferred ashore by US Navy aircraft, while other sailors took charge of the RCBs and continued transiting toward Bahrain, the boats' original destination."
SourcE: AFP