The other three detained ICC staffers were Mrs Taylor's interpreter from Lebanon, Helen Assaf, and two colleagues, Russian Alexander Khodakov and Esteban Peralta Losilla from Spain.
The four were allowed to leave the North African country as part of an agreement between The Hague-based court and the Libyan government, which are disputing where Saif should be tried.
But Mrs Taylor, who declined to answer questions, read a prepared statement Friday saying: "Amongst other things, the Libyan authorities deliberately mislead the defence concerning whether the visit with Mr Gaddafi would be monitored."
They also "seized documents which were covered by legal professional privilege and ICC protective orders," she said.
Defence lawyers will give their side of the story to ICC judges in writing no later than next Wednesday, she said.
A beaming Mrs Taylor said it was "wonderful" to be back in The Hague.
She said during her detention the four ICC members were allowed to have one five-minute telephone conversation with their families.
"As you can imagine, speaking to my two-year-old daughter under such circumstances was both an emotional lifeline and heartbreaking," she said.
Saif has been in custody in Zintan since his arrest on November 19 in the wake of the uprising that toppled his father after more than 40 years in power.
The ICC wants both Saif and his late father's spymaster, Abdullah Senussi, for crimes against humanity committed while trying to put down last year's bloody revolt.
Tripoli and the ICC have been at loggerheads since Saif capture over where he should be tried, with Libya arguing it could put him in the dock before a local court.
On May 1, officials asked the court's judges to quash a surrender request and throw out the case.
The ICC issued an arrest warrant for Seif and Senussi in June 2011, and wants to see them tried in The Hague.
A third warrant for the late Libyan strongman was nullified after Gaddafi was killed by rebel forces on October 20, 2011.
