Zubeidi has been charged with connection to the shooting on the late Jenin governor's house in May, attorney Farid Hawash said. Qaddura Musa died hours later of a heart attack.
Hawash said Zubeidi would plead not guilty at the next hearing on Oct. 7.
The Jenin court released him on bail of 5,000 Jordanian dinar, he added.
Zubeidi had been jailed without charge for more than four months, until he received the formal charge last Sunday.
The director of the Jenin theater co-founded by Zubeidi, the Freedom Theater, said Zubeidi told his brother earlier Monday he was re-starting a hunger strike against his continued detention.
"A few hours later we heard he was being released, but we didn't believe it until we heard he was standing outside the doors of the prison," Jonathan Stanczak said.
In recent weeks, Zubeidi twice launched hunger strikes in jail, before suspending them on assurances he would immanently be released.
Zubeidi left the Fatah-affiliated Al-Aqsa Martyrs Brigades, which he led in Jenin during the second intifada, to co-found the theater in Jenin refugee camp in 2006 with Juliano Mer-Khamis, who was shot in 2011.
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