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My German is not wonderful, but judging by other sentences in our database that start with "Lass uns" or "Lassen Sie uns", the meaning of both sentences is most probably "let's go", and not "allow us to go".
https://tatoeba.org/eng/sentenc...rom=deu&to=und
https://tatoeba.org/eng/sentenc...rom=deu&to=und

(PS: The Dutch translation I submitted before reading this *does* mean "allow us to go")

@CK The sentences "Lass uns gehen" and "Lassen Sie uns gehen" mean slightly different things in German but have the same English translation. "Lassen Sie uns gehen" is just the polite way of saying "Lass uns gehen". In German, there are two ways of saying you (referring to one person, not multiple): "du" and "Sie". "Sie" is the polite "you"; for example, a grade school kid would refer to a grown up as "Sie" and not "du" unless that grown up is someone close to the child (like a relative).

@Raizin I do believe that these sentences could also mean "Let's go" instead of "Let us go". Imagine if someone was holding you against your will; you'd say "Let me go!". In German you'd say "Lass mich gehen!". So my translation is valid.

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Annotation:

This could have any of these meanings

1. Allow us to go.
2. Release us.
3. [#241077] Let's go. (However, usually we would say it this way if we meant it as a suggestion.)