Hilary Lister, 37, was applauded as she sailed into Dover harbour, in her home county of Kent.
Mrs Lister, an Oxford biochemistry graduate from Faversham, is disabled from the neck down.
Her specially-adapted vessel, an Artemis 20 called Me Too, was designed to be operated through three "straws".
They allowed her to control the boat using a "sip-and-puff" system. Mrs Lister said she was "hugely proud" of the six strong team who provided back-up throughout her series of 40 day-long sails.
On arrival, she declared: "I’m so relieved to be home but looking forward to the next challenge."
Mrs Lister began her voyage in May but had to be treated in hospital a month later, having been rescued from rough seas off Pembrokeshire.