The lawyers argue that evidence showed that the double-amputee athlete is not a flight risk and should have the option of traveling outside South Africa as long as he has official permission.
The appeal was filed Friday. On Monday, The Associated Press received a copy of the papers by email from representatives of the Pistorius family.
Pistorius was released on bail on Feb. 22. He was arrested on charges of murdering girlfriend Reeva Steenkamp on Feb. 14. Pistorius says he mistakenly shot Steenkamp, thinking she was an intruder in his home. Prosecutors believe he killed her intentionally after an argument.