Somali pirates have released a Danish family of five and two Danish crew members who were seized while sailing around the world more than six months ago.

In a statement Wednesday, the Danish foreign ministry said the freed hostages were safe and doing well under the circumstances. The statement did not indicate if a ransom was paid in exchange for their release.

Somali pirates captured the Danes on February 24, as they were sailing their yacht in the Indian Ocean.

Blog posts suggest the family knew they were running the risk of a pirate attack and had set up an action plan in case they were targeted.

The family has been identified as Jon Johansen, his wife Birgit Marie, and their three children, who were between the ages of 12 and 16 when they were captured.

While in captivity, pirates threatened to harm the hostages after a failed rescue attempt by forces from Somalia's Puntland region.

Somali pirates continue to target vessels sailing in the Indian Ocean, despite the presence of international naval patrols.

The pirates have netted hundreds of millions of dollars hijacking ships for ransom over the past few years.