CNDH, which has the power to look into cases but not prosecute them, called on Navy Secretary Vidal Soberon to address the case and investigate the marines involved.
There were at least 1,584 substantiated cases of military dependents being sexually abused between fiscal years 2010 and 2014.
Gays, Latinos, and Blacks were ridiculed.
Human rights groups said Cristel Piña, Eduardo Estrada and Leonardo de la O were freed Wednesday.
The women, three from Mexico, and two from Central America, were fired for resisting their employers.
A Mexican migrant paid a recruiter thousands of dollars for work in the U.S., only to endure slavery, time in jail and finally deportation. To make sure others did not fall prey to the same man, the migrant wrote a review on Contratados.org.
The government's human rights commission said the three were detained Monday in the Gulf coast state of Tabasco while returning from a visit to relatives.