The mayor of Baltimore has lifted a nightly curfew that was implemented after residents in the US city rioted following the death of a man in police custody.

A 10:00 pm to 5:00 am curfew was imposed on Tuesday following chaotic scenes that saw mobs looting shops, smashing store windows and setting cars ablaze.

But recent protests have been largely peaceful and a growing chorus of community members and business owners called for the curfew to be lifted.

"Effective immediately, I have rescinded my order instituting a city-wide curfew," Mayor Stephanie Rawlings-Blake wrote on Twitter on Sunday.

"I want to thank the people of Baltimore for their patience."

The mayor went on to tweet that her goal had "always been to not have the curfew in place a single day longer than was necessary. I believe we have reached that point today."

Protests erupted in Baltimore and several major US cities following the death of Freddie Gray, a 25-year-old Baltimore man who died from injuries sustained while in police custody.

Six officers were charged in the case on Friday.