The turtle, scientifically known as Cuora galbinifrons, was found by a police patrol near the Kim Lien historical site at around 11.30 am on September 19.
Officers took the animal to their unit before coordinating with local authorities to complete procedures for its release.
Police, Kim Lien Commune authorities and the Nam Dan-Hung Nguyen forest protection unit on September 22 released the turtle in the Dong Tranh mountain area in Kim Lien Commune.
The golden-headed box turtle is a rare and endangered species with significant biodiversity conservation value. Authorities said its release would contribute to wildlife and ecosystem conservation.