Yes, you can download migrated files as a Zip or as individual files directly from the Download page. Follow the steps below:
- Go to the Cloud Documents tab.
- Select the files you want to download.
- Click on the "Mass Download Files from S3" List View button.

- A Download Page will open.
- If you want to download the files as a Zip, click on the "Download as Zip" button.

- If you want to download the files individually, click on the "Download Individual Files" button.

PS: View Drag, Drop & Upload Files to Amazon S3, a Salesforce AppExchange app for moving files from Salesforce to Amazon S3: https://appexchange.salesforce.com/appxListingDetail?listingId=a0N3000000B5ZPqEAN