At the country's two major international airports in Sydney and Melbourne, tired but elated family and friends rushed from gates to embrace loved ones after years apart.

Bernie Edmonds was emotional as he hugged his eight-year-old granddaughter, Charlotte, who had just landed in Sydney.

"It's great to have her back," he said. "She's got to go again but we'll get her back again."

The country closed its borders to almost everyone except citizens and permanent residents in March 2020, trying to slow surging Covid-19 case numbers.

The travel ban -- which also barred citizens from going overseas without an exemption and imposed a strict cap on international arrivals -- earned the country the nickname "Fortress Australia".

Sydneysider Jody Tuchin was excited to pick up her best friend, who she had not seen since 2018.

"He made it back just in time for my wedding in four days," she told AFP.

Meanwhile, Qantas pilot Paul Grant said it was "nice to have passengers back on again".

"It's fair to say we've all been waiting a long time to welcome visitors back to Australia," Qantas chief executive Alan Joyce said.