Download from Google Photos to your device

Download a single photo back to your device

Download multiple photos back to your device

When you used "Free up space" all photos are still in the Photos tab of Google Photos, but the folder structure is lost.
When photos were uploaded with setting "Storage saver" (or former "High Quality") the original is also lost.

On iPhone or iPad

On Android (and some also on iOS)

Also note that it is not really safe to delete from your device without making an extra backup.  See this article.

Download to computer and copy to device

It is also possible to download to a computer, connect to the phone by USB cable, and copy the photos/videos.
Advantage is that this gives you a backup, which I think is absolutely needed for safety.
See Google Photos is NOT a "Backup" of Your Photos