Asif Malik, 31 and Sara Kiran, 29, were held in the Turkish capital Ankara last month after British police appealed for information on their whereabouts.
The family were reported missing from their home in Slough on 16 April.
News of their return was disclosed by judge Sir James Munby following a family court hearing in London this week.
"The Malik family has returned to the jurisdiction of England and Wales, " said James, senior family court judge in England and Wales.
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"The children are wards of court and the family continues to be supported by appropriate social care services, whilst the family court continues to ensure the welfare of the children in cooperation with their parents," James said.
The pair and their children, who are all aged seven and under, left Slough, Berkshire, on April 7 without mentioning their travel plans to relatives.
They boarded a ferry from Dover to Calais a few hours later, before travelling through Europe and crossing into Turkey through Greece.
Thames Valley Police had launched a missing persons inquiry.