Nixon deployed the Guard Monday following a Sunday night clash between armored police and what he as "a violent criminal element intent upon terrorizing the community."
The unrest followed the Aug. 9 shooting of 18-year-old Michael Brown by Ferguson police officer Darren Wilson, who is white.
The neighborhood has been under a midnight-to-5 a.m. curfew the past two days, after Nixon declared a state of emergency. The governor says in a statement that the curfew is now lifted.
He says the Guard will be under the direction of the state Highway Patrol.