Chloe Kelly scored the crucial penalty in Basel, Switzerland, as Sarina Wiegman's squad successfully defended the European women's title they claimed at Wembley in 2022.
Fans, many dressed in England gear and waving flags, cheered while waiting outside Southend airport, located about 40 miles (64 kilometers) east of London.
In a post on X, the team shared a picture of the trophy adorned with an England flag on a seat in the plane, which had "Home" painted in red letters on its side.
The plane received a water salute from two fire engines upon landing. Captain Leah Williamson and manager Wiegman were the first to disembark, with the captain proudly holding the trophy.

Among the cheering supporters were twins Poppy and Daisy Macdonald, 11, who held a sign requesting a photo with star striker Alessia Russo.
"We are so proud. They have won it two times consecutively and have worked so hard for this," said Poppy. "They have faced many injuries and challenges but have performed exceptionally."

The Lionesses will be taken directly to 10 Downing Street, the official residence of British Prime Minister Keir Starmer.
An open-top bus parade is scheduled for Tuesday, culminating in a celebration at Buckingham Palace.
Their victory in Switzerland was a sweet revenge for Wiegman's defending champions, who faced a heartbreaking defeat against the same team in the World Cup final two years prior.
King Charles III expressed the royal family's "warmest appreciation and admiration" for the team following their victory, adding: "The next challenge is to bring home the World Cup in 2027 if possible."
Starmer also praised the achievement, stating: "The Lionesses have once again won the hearts of the nation."
The reception at Downing Street was hosted by Deputy Prime Minister Angela Rayner and sports minister Stephanie Peacock.
Red-and-white St George's flags adorned the famous black door ahead of the team's arrival later on Monday from a rainy Zurich.
Late drama
The victory in Switzerland on Sunday capped an extraordinary tournament filled with late drama for England.
Wiegman's team struggled initially, losing their opening match to France, before securing comfortable victories against the Netherlands and Wales in the group stage.
They came back from a 2-0 deficit against Sweden in the quarter-finals, winning on penalties, and secured their place in Sunday’s final with a last-minute extra-time victory over Italy.
The defending champions again fell behind against Spain on Sunday, but Russo equalized against Mariona Caldentey's first-half goal, with neither team able to score a winner by the end of extra time.
Two penalty saves by player-of-the-match Hannah Hampton and Salma Paralluelo's miss set the stage for Kelly, who also netted the decisive goal against Germany in the 2022 final.
Throughout the entire Euros knockout stage, the Lionesses led for less than five minutes.
"I must say this is the most chaotic and absurd tournament we have participated in," Wiegman remarked.
"The players believe we can win by any means, and we simply never give up."
The Dutch coach, who has now secured three consecutive European Championship titles, having led the Netherlands to victory in 2017, expressed hope that England's success would elevate women's football globally.
"My experience of this tournament is that the level has risen again, and the intensity of the matches has skyrocketed," she stated. "That is evident.
"We've observed it in the matches as well as in the data we have. I believe this tournament has set new records once more, which is fantastic, and I hope it will enhance the women’s game everywhere."