The country imposed some of the world’s strictest travel bans after shutting itself off in March 2020 due to Covid.
Australians and some others were allowed to return late last year, but most foreigners have had to wait.
There were tearful reunions at Sydney Airport on Monday as hundreds of people began arriving on flights.
One young girl, Charlotte, shared an emotional hug with her grandfather. She told the local Nine Network: “I’ve missed him so much and I’ve looked forward to this trip for so long.”
Double-jabbed visitors do not need to quarantine, but unvaccinated travellers must do so in a hotel for up to 14 days at their own expense.
More than 50 international flights were due to land on Monday. Travellers can enter all states except Western Australia, which remains closed until 3 March and will require three jabs.
“What wonderful, wonderful news for our tourism industry and the 660,000 people employed in it,” said Minister for Trade, Tourism and Investment Dan Tehan.
Australia had about 9.5 million overseas visitors in 2019. Mr Tehan said he hoped for a strong rebound in the tourism sector, which has been hit by domestic travel bans too.
The country’s strict measures drew criticism for separating families and stifling businesses, but they were also credited with preventing many deaths before vaccines were available. Australia has had about 4,900 Covid deaths.