National Guard was initially called in early Monday
Missouri Gov. Jay Nixon ordered the National Guard to begin withdrawing from Ferguson, Mo., on Thursday after finding the situation on the ground "greatly improved."
State Highway Patrol and other law enforcement from St. Louis County will continue taking the lead maintaining security in the St. Louis suburb, Nixon said in a statement.
"The situation has greatly improved with fewer incidents of outside instigators interfering with peaceful protesters, and fewer acts of violence," the statement said.
The governor's office did not say specifically how long it would take to withdraw the National Gaurd, a process that will be coordinated with the Highway Patrol.
Ferguson has been roiled by protests since the police killing of 18-year-old Michael Brown on Aug. 9, but only six arrests were made on Wednesday night, one of the calmest since Brown's death. Dozens of arrests had been made the previous night. Police reported no shots fired or Molotov cocktails thrown, similar to the night before.