The easyJet plane had been due to leave the holiday resort on Wednesday but Britain suspended flights, warning about security at Sharm el-Sheikh airport and saying it feared a bomb may have brought down a Russian jet departing from there last week.
There were tears of relief as passengers from flight EZY9854 walked out with only their carry-on bags as British tourists are having to leave any check-in luggage in Egypt to be flown out to them later.
Nicky Bull, a human resources manager, said: "The pilot got a round of applause and we all cheered. It was absolutely great!"
But she added: "I think a lot of people will question whether they ever want to go to Egypt again".
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Bull said passengers were informed of increased security measures around their plane.
"We were told when we got on the plane that the Egyptian army and MI5 had been guarding the plane. There was no way that anybody could get at it."
The flight landing in Gatwick was carrying 180 passengers and around the same number arrived on a subsequent easyJet flight at London Luton.
There are an estimated 20,000 British holidaymakers in Sharm el-Sheikh and its surrounding Red Sea resorts, with many keen to return as soon as possible because of the heightened security fears.
Only eight out of 29 planned flights to Britain were to leave Sharm el-Sheikh on Friday, according to Egypt's civil aviation minister Hossam Kamal, who said this was due to the requirement that passengers take only their hand luggage.