The former National Football League and movie star was in the midst of serving a 33-year sentence for an attempted armed robbery of sports memorabilia dealers in a Las Vegas hotel room.
His legal team said this week that he was just looking forward to the "simple pleasures" of eating steak and buying an iPhone on his release.
Simpson told the parole board he had been a model prisoner during his time there.
Simpson's presence could also embarrass his adult children living there, Bondi said.
Simpson is expected to remain in Nevada for the immediate future; Florida and California, where he has lived in the past, did not receive requests for transfer before his release, officials said. His case was assigned to an officer in the division's Southern Command, Las Vegas, the statement said.
It's a new chapter for the one-time pop culture phenomenon whose fame was once again on display when the major TV networks carried his parole hearing live.
Asked how it felt to be free, he said: "I'm in a vehicle for the last five hours, so how do I know how it feels to be out?" Simpson's conviction of kidnapping and robbery since 2008 has been normal.
Bondi said Simpson had a "wanton disregard for the lives of others" and he had a "scofflaw attitude" for "heinous acts for which he has been found civilly liable", a reference to the 1994 deaths of Simpson's ex-wife Nicole Brown and her friend, Ron Goldman. Simpson's trial was dubbed as "Trial of the Century" as it gathered worldwide attention. Along with a handful of accomplices, the former star broke into the room of a couple of sports memorabilia dealers.
He was eventually acquitted of the murder charges in 1995, his trial creating a circus-like atmosphere outside the Los Angeles County Criminal Courts Building and spawning a seemingly endless public debate over whether he had gotten away with murder.