The tennis ace flew into Heathrow's Terminal 5 at around 9am with girlfriend Kim Sears and was greeted by British Airways staff and excited members of the public.
The Scot became the first British man in 76 years to win a major singles title when he beat Novak Djokovic over five sets in the US Open final.
It is not yet known whether Murray will take part in a parade for Scotland's Olympic athletes in Glasgow on Friday.
Murray, dressed in jeans and a hooded top, was photographed by waiting media and posed for pictures with holidaymakers and airport staff as he collected his luggage.
The US win completed a successful few months for the 25-year-old, who followed a Wimbledon final with Olympic gold.
Following his US victory Murray hailed the effect Britain's magical sporting summer has had on the country.
He said yesterday: "Being around the Olympics and seeing how the nation came together, from the public to the athletes to the press, everyone was just right behind it.
"Sport has been this huge part of my life since I was a kid and it's been the best summer of sport in my lifetime and I'm sure in most people's. It's been so much fun and I'm just happy I was able to contribute towards it."
A source close to Murray said he would be taking a few days out following his arrival in London.
He will take some time to rest and "get his head right" before deciding what to do next, the source said.
Murray admitted before leaving New York that he was not sure what reaction his new status would bring on his return.
He said: "It's something that will probably take a bit of getting used to. It's not something I've always been that comfortable with.
"I spoke to (coach) Ivan (Lendl) a couple of times during the year and he asked me, 'What worries you?'.
"I said that I worry what might happen if I win a major, how my life might change, because I want it to be the same.
"He said he felt the same thing but all that happens is you get more people congratulating you and you get nicer tables in restaurants and to play on all the good golf courses for free."
Murray has laughed off talk of a knighthood but the question of how Britain will honour the champion remains.
A golden post box already stands in his hometown of Dunblane following his victory at the Olympics, and his local authority is in talks to offer him the Freedom of the City of Stirling
"The whole community will want to congratulate Andy on his first gland slam title and on the glorious, warrior-like way he won it," said Stirling Provost councillor Mike Robbins.
The Scot's odds of becoming BBC Sports Personality of the Year have, meanwhile, been slashed.
Murray will next compete at the Japan Open on October 1, according to the schedule on his official website.
He will be defending the title after beating Spaniard Rafael Nadal in Tokyo last year, where he also took a victory in the doubles tournament alongside older brother Jamie.
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