All four members of the Nevada Parole Board that were present voted to grant Simpson his freedom, which could come as early as this Oct. 1.
Nevada Board of Parole Commissioner Tony Corda acknowledged Thursday, however, that Simpson committed a major offense before his incarceration.
"Mr. Simpson, you organized this crime in which two victims were robbed at gunpoint," he said. "It was a serious crime. You deserved to be sent to prison."
"You have complied with the rules of this prison," Corda adding before voting to grant Simpson's release. "You are a low-risk to re-offend on our guidelines. You have no prior convictions of criminal activity."
Former football player O.J. Simpson was granted his freedom by the Nevada Board of Parole on Thursday for his role in a 2007 armed robbery.
Simpson, 70, served nearly nine years of a 33-year sentence for helping take hundreds of memorabilia items from two men at a Los Vegas hotel.
He could be released as soon as October 1.
Watch as the parole board announces its decision:
Watch the first part of the hearing:
Bruce Fromong, one of the victims of the 2007 robbery, said Simpson was "misguided" before the incident about who had his property.
"None of this needed to happen," he said. "It is true that items in that room belonged to O.J. There is no two ways about it. I have never stolen from O.J."
"O.J. never held a gun on me," Fromong added. "I am sorry things did not work out differently. I have known O.J. for a long time and I don't believe he is a threat to anybody."
"I feel that 9-and-a-half to 33 years was way too long. O.J. is my friend, always been and I hope always will be. This is a good man. Juice, I'll be there for you."
Simpson used his closing remarks to reiterate his remorse, offering an apology to the state of Nevada for his actions there.
"I am sorry that things turned out the way they did," he said. "I had no intent to commit a crime. I've done my time. Nine years away from your family is not worth it."
Arnelle Simpson, O.J. Simpson's eldest daughter, on Thursday defended her father's character as the Nevada parole board debated his freedom.
"My dad recognizes he took the wrong approach and could have handled the situation differently," she said. "As a family, we recognize he's not a perfect man."
"We just want him to come home," Arnelle Simpson added. "This has been really, truly, hard. I know that he is remorseful. My experience with him is he is like my best friend and my rock."
Simpson said he believes in the "jury system" and honored the conviction it had given him almost nine years ago.
"I've done my time," he said. "I have done it as well and respectfully as anyone can. I have always tried to be a good solider. I have not complained once in nine years."
Simpson acknowledged "that he had missed a lot of time" in prison, noting his children's birthdays and college graduations.
"Trust me, I wish it never happened," he said of the standoff in Las Vegas, adding he takes "full responsibility" for his role in it. "There's nothing I can do to apologize about the media circus that is going on right now."
Simpson described himself as having lead a "conflict-free life" before prison, adding that after his incarceration he took an "alternatives to violence" course and helped lead worship services for his fellow prisoners.
"I realized in my nine years here that I was a good guy on the street," said Simpson, who described himself as a Baptist. "I could have been a better Christian. That's my commitment to change, to be a better Christian. I always thought I have been pretty good with people."
Simpson also disputed he struggled with alcohol or other substance abuse before the 2007 confrontation that eventually resulted in his prison sentence.
"I don't think anybody has ever accused me of having an alcohol problem or a substance abuse problem," he said. "I had drinks on that day, but it was a wedding celebration."
Simpson appeared via video from the Lovelock Correctional Facility in Lovelock, Nevada, before four members of the seven-member parole board in Carson City, Nevada.
The board told Simpson he was eligible for parole this Oct. 1 and that his parole eligibility would ultimately expire in September 2022.
Simpson was ultimately convicted for three counts of conspiracy and one count of burglary with a use of a deadly weapon for the incident, which included one of his accomplices wielding a gun.
Simpson was also convicted in 2008 for two counts each of kidnapping, robbery and assault and coercion, all with use of a deadly weapon.
"In no way, shape or form did I wish anybody any harm," he said of the September 2007 incident. "Nobody's ever accused me of pulling a weapon on them."
"I was not there to steal from anybody. I would never, ever pull a weapon on anybody. I have not made any excuses in the nine years I have been here."
Former football star O.J. Simpson came up for parole in Nevada Thursday after serving eight years for his role in an armed robbery in Las Vegas.
Simpson, 70, made his case before the Nevada Board of Parole that it should grant him his freedom early as he serves a 33-year sentence.
The former National Football League (NFL) player was convicted in October 2008 for taking several hundred pieces of memorabilia from two men in a Los Vegas hotel.
Simpson's first brush with the law in 1994 resulted in what is sometimes called the "trial of the century" over the murders of Simpson's ex-wife Nicole Brown Simpson and her friend Ron Goldman.
A jury ultimately found Simpson not guilty on both counts of murder in October 1995, after a much-publicized trial that sparked national debate on issues including fame, justice and race.