Miami International Airport Communication Director Greg Chin said McAfee's name was called immediately upon landing and federal officials escorted the 67-year-old off the aircraft, though it wasn't clear if they wanted to question him or if they were there to help him avoid the media, ABC News reported.
A Guatemalan judge earlier Wednesday ordered McAfee's release from a detention center, his attorney said.
"They took me out of my cell and put me on a freaking airplane," McAfee told ABC News. "I had no choice in the matter," he said, adding Guatemalan authorities had been "nice" to him.
"It was the most gracious expulsion I've ever experienced. Compared to my past two wives that expelled me this isn't a terrible trip," he said.
Attorney Telesforo Guerra told the Los Angeles Times the expulsion was a "victory because the government wanted to send him back to Belize. With this kind of resolution, they cannot do it."
McAfee was arrested last week after officials said he entered Guatemala illegally to try to avoid Belize police who named him a "person of interest" in the fatal November shooting of his neighbor, U.S. businessman Gregory Faull.
Guerra said Guatemalan law states someone entering the country illegally has 10 days to establish immigration status.
"There is no crime in coming without any visa," he said. "If there's not any crime, the immigration office has to release him."
Belize police said they only want to question McAfee about Faull's death. McAfee has said he believes he will be killed if captured by Belize officials.
Raphael Martinez, a Belize Police Department spokesman, earlier told the Times he hoped the "good working relationship" Belize has with the United States helps the police in the investigation.
"If he goes back to America," Martinez had said, "it would be totally on the onus of the American people whether they want to bring a closure to what has been happening in Belize."