Crowds packed into the bunting-lined streets of Dunblane, with Scottish flags and homemade placards congratulating the town's favourite son.
Thousands chanted his name and cheered after waiting hours in wet weather.
They were rewarded for their patience, with Murray appearing to sign as many autographs as possible as he slowly walked along through the town.
The 25-year-old is celebrating a golden summer of success with locals just days after returning to the UK after beating Novak Djokovic to win the US Open.
That victory came weeks after he beat Roger Federer to take the Olympic men's title at the London 2012 Games.
Cameron Reid-Thomas, 11, from Dunblane, was among those who waited to welcome the champion.
He said: "We're Andy's biggest fans, we all came here to see him and say well done.
"It's huge for all his fans to see him back here. He doesn't get back often because he's always training and playing tournaments."
Johnathan Beher, seven, from Dunblane, said: "Andy's my hero, I want to be just like him."
Neil Yarwood, 41, travelled from Perth with his wife Rhona and daughters Robyn, seven, and Iona, nine.
He said: "I've never seen Dunblane High Street like it. The atmosphere is fantastic.
"We're here to see Andy and give him the respect he deserves. He's had a great year and we're so proud of him."
Fans in Dunblane have continually backed Murray in his search for a grand slam title and regularly gather in pubs and clubs in the town to watch important matches.
Before his return home, Murray said: "I can't wait to get back to Dunblane to where it all began and share my US Open victory with everyone and thank them for all the support.
"It's definitely going to be emotional, but it's a very special place for me."
Murray did not attend Friday's official victory parade for Scotland's Olympians and Paralympians in Glasgow, having been advised to take a couple of days of complete rest at home after playing continuously for four months.
Read our 2005 interview with a teenager on the brink of tennis fame
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