fail2ban-client get YOURJAILNAMEHERE actionunban IPADDRESSHERE
With Fail2Ban v0.8.8 and later:
fail2ban-client set YOURJAILNAMEHERE unbanip IPADDRESSHERE
The hard part is finding the right jail:
Use iptables -L -n to find the rule name...
...then use fail2ban-client status | grep "Jail list" | sed -E 's/^[^:]+:[ \t]+//' | sed 's/,//g' to get the actual jail names. The rule name and jail name may not be the same but it should be clear which one is related to which.
Best Answer
Anyway, you will be using iptables as it is the firewall implementation under Linux. It will be just a wrapper or another interface.