Italy's Red Brigades early today released kidnaped judge Giovanni D'Urso unharmed, after two nationally circulated newspapers met their demand to publish statements by accused terrorists.

A Brigades telephone caller told police the D'Urso was in a small car in the heart to Rome. Police reported he seemed to be "in excellent condition." t

The Brigades, who kidnaped D'Urso a month ago, had announced yesterday in a communique found in a garbage pail in downtown Rome that their captive would be released after instructions about its location were phoned to the offices of the Rome daily Il Messaggero. The newspaper was one of two nationally circulated papers that met the kidnapers' demand to publish the statements by accused terrorists held at two southern Italian prisons.

Most other newspapers and the state-run radio and television stations had refused to publish the documents, which claimed victory for the Brigades and promised further armed violence. Il Messagagero agreed Tuesday to publish the statements in response to an appeal by D'Urso's wife, who said she had proof that an original ultimatum by the Red Brigades had been suspended and that her husband's life depended on the publication of the documents. Genoa's Secolo XIX Nuovo also published the documents.

The Red Brigades communique found yesterday said that the terrorists believed they had achieved their goal in kidnaping D'Urso and vowed to continue their struggle until they achieved "the destruction of all prisons and the release of all political prisoners."

Judge D'Urso was in charge of assigning jailed terrorists to prisons and the kidnapers have focused attention on Italy's jails, considered to be their major point of recruitment.

Meanwhile, in a debate on terrorism in the Chamber of Deputies yesterday, Christian Democratic Premier Arnaldo Forlani said the Italian state would "never give up" and vowed that it would continue the policy criticized by the Red Brigades of separating ordinary convicts from jailed political prisoners.

In contrast to the Red Brigades kidnaping of former premier Aldo Moro in 1978, when they demanded the release of jailed prisoners and later killed Moro, this time the terrorists have focused most of their attention on the Italian press. The government has continued its hard-line policy of refusing all negotiations with the terrorists.

"In this sense," said one Italian journalist, "they have succeeded, since their major goal appears to have been that of being on the front pages for an entire month."