The sisters of prominent Saudi women’s rights activist Loujain al-Hathloul said on Thursday they wanted real justice for her, and the lifting of a travel ban, the day after she was released from prison on a suspended sentence.

Hathloul, 31, has campaigned for women’s right to drive and to end Saudi’s male guardianship system. She spent nearly three years behind bars in a case that drew international condemnation, and remains forbidden to leave Saudi Arabia for five years.

Rights groups and her family say Hathloul was subjected in prison to electric shocks, waterboarding, flogging and sexual assault - accusations that Saudi Arabia denies...