The death sentence was later commuted to life in prison by then-Governor George Ryan.
Safforld, who went by the alias "Cortez Brown" at the time, alleges Chicago police detectives under the command of former police commander Jon Burge tortured him into the confessions.
On Tuesday night, he was released for time served after pleading guilty to one of the murders as part of a plea bargain.
"It was very difficult. But this is the reason why I did that. [My daughter] was born one month after I was incarcerated. I couldn't deny, delay, being a deadbeat dad any longer. I had to make a decision to get to my, to my daughter," said Safforld.
Safforld maintains his innocence and says he now plans to work to try and clear his name.