Prime Minister Najib Razak said a coroner had approved the release of Kim Jong-nam's body.
Mr Kim was murdered at Kuala Lumpur airport with a lethal nerve agent last month.
The assassination led to a major diplomatic dispute between Malaysia and North Korea.
Malaysia has not directly blamed North Korea for the killing, but there is widespread suspicion that Pyongyang was responsible.
Meanwhile, nine Malaysians who had been barred from leaving North Korea returned to Malaysia early on Friday. They include three embassy staff and six family members.