The last Canadian troops deployed to Afghanistan returned home on Tuesday, bringing an end to Canada's longest ever military engagement.

Still in their desert fatigues, the 86 soldiers disembarked in frigid temperatures at the Ottawa airport, where they were greeted by Governor General David Johnston, Prime Minister Stephen Harper and others.

"This morning, as you stepped onto Canadian soil, you have brought to a close the longest active military engagement in Canadian history," Harper said in a speech.

"A grateful country welcomes you home."

Relatives and loved ones cheered and wept as they were reunited with the returning troops at a nearby hangar.

"It's great to be back," Major General Dean Milner told reporters.

Canada initially committed troops to Afghanistan in December 2001, and until 2011 was involved in heavy fighting against Taliban militants in the violent south of the country.

From 2011, Canadian troops took on training the Afghan military and police.

A Canadian diplomat, a journalist, two civilian contractors and 158 soldiers were killed in the conflict. More than 2,000 Canadian soldiers were also wounded.

Harper noted that "Afghanistan still has a way to go to becoming a stable democracy where liberty and the rule of law are respected and appreciated."

"But whatever work remains, the people of Afghanistan are better off today because of Canada's investments," the prime minister said.