The nuclear-powered submarine HMS Torbay returned to Plymouth following the three-month deployment to the Gulf of Aden.
During the deployment the 127-man crew helped to reduce the danger of transporting cargo on the high seas.
The UK is taking an active role in helping to end piracy in the Middle East and HMS Torbay has played a key part.
Able Seaman Matthew Peterson (sonar operator) of Torpoint, was greeted by his in-laws from the Isle of Wight and his wife Laura and their children Ryan aged seven months, and Ciaran, aged two.
Laura said: “It’s so good he’s back now.’’
Lieutenant Commander David Filtness, HMS Torbay Operations Officer, who is from Callington, was hugged by his wife Becca as he stepped onto the jetty yesterday.
He said: “It’s brilliant to be back home and see my family again.”
Laura Roberts, from Plymstock, the wife of HMS Torbay Logistics Officer, Lieutenant Mike Roberts, organised the welcome home and group outings for families of the crew while the submarine was deployed.
She was there to greet him with their son Will, aged two, and said: “It’s great to have Mike back.”
Commander Chris Goodsell, HMS Torbay’ Captain, said: “We have done our bit, provided support to the surface ships in the area and helped to prevent pirate attacks.”