Simpson was acquitted of the murders of Brown Simpson and Goldman in 1995, but he was sentenced to 33 years in prison for taking part in kidnapping and armed robbery in a Las Vegas hotel room in 2007.
"I don't see any reason why he wouldn't, based on his being a model prisoner and the actions that he's taken over the years to better himself", Al Lasso, a Las Vegas trial lawyer who has observed the case, told NBC News.
Almost ten years after going to prison for attempted robbery, Orenthal James Simpson has been granted parole.
Simpson responded emotionally, saying, "Thank you, thank you, thank you".
O.J. Simpson arrives for his parole hearing at Lovelock Correctional Center, in Lovelock, Nevada, July 20. Simpson now can start counting the days until he leaves custody following his success in the "parole hearing of the century".
Although the board agreed to parole 70-year-old Simpson, the former running back and Hall of Fame inductee won't be released immediately.
"Make no mistake, I would give it all back to get these last five years back", he added.
He has been asked to explain what happened on the night at the hotel, and says he walked into a hotel room when he noticed his belongings "spread out".
"I've done my time, I've done it as well and respectfully- I believe in the jury system.I've not complained in 9 years".
Simpson appeared via video teleconference before four members of a seven-member parole board.
"I like the photographs of O.J.in handcuffs more than I like the photographs of O.J. with a golf club in his hands", he said.
Will OJ Simpson get parole today?
Earlier, he insisted he had always been a "good guy" before his conviction and was not a danger to the public.
Simpson also stated that he'd spent a "conflict-free" life..
Arnelle Simpson says she knows her father is remorseful, and the family wants him home so they can move forward.