You don't want to release memory from SQL Server, period.
SQL Server is designed to grab as much memory as it can. It reads the data into the buffer cache, as reading from cache is faster than reading from disk. Once it has read data into cache, what would be the point with throwing that memory away, as long as it is not needed for anything else?
If there other processes running on the machine and there is memory pressure, SQL Server will yield memory, don't worry.
Although, sometimes SQL Server may not yield fast enough, and if other processes are suffering, you can set "max server memory" to limit how much memory SQL Server can consume. For instance, if you are running SQL Server on your laptop, where there are lot of other things going, you may want to run
EXEC sp_configure 'max server memory', 4000
RECONFIGURE
to cap SQL Server at 4GB of memory. But don't do this on a production server which is dedicated to run SQL Server.