TOKYO—Former Toyota Motor Corp. executive Julie Hamp was released from custody in Tokyo on Wednesday without charge, 20 days after she was arrested for allegedly bringing tablets of the painkiller oxycodone into Japan without permission, prosecutors said.

Representatives of Toyota declined to comment. Toyota has said that Ms. Hamp has legal representation. The identity of her lawyer wasn't clear as of Wednesday.

Ms. Hamp was Toyota's chief communication officer until she resigned June 30. She had been in custody since her arrest on June 18. Police said customs officers intercepted a package for Ms. Hamp that contained about 60 tablets of oxycodone.

Oxycodone is a legal prescription painkiller in both the U.S. and Japan. But bringing oxycodone into Japan without advance government permission is illegal.

Ms. Hamp's arrest came as Toyota President Akio Toyoda was pushing to diversify the auto maker's executive ranks and bring in more non-Japanese. She was among three non-Japanese executives who received promotions at Toyota earlier this year and was the highest-ranking woman at the company.

Alexander Martin contributed to this article.

Write to Yoko Kubota at yoko.kubota@wsj.com

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