The vehicle hove into view through the night skies above Kennedy Space Centre just after 0230 EDT (0635 GMT), bringing its six-man crew home after a 16-day mission to deliver a premier science experiment to the International Space Station on NASA's second-to-last shuttle flight.
Endeavour spent just over 11 days attached to the ISS following its launch on 16 May. The ship had gone to the platform to install the Alpha Magnetic Spectrometer (AMS), a seven-tonne detector designed to survey the blizzard of high-energy particles that are fired at Earth from all corners of the cosmos.
The crew members for space shuttle Endeavour's STS-134 mission are Commander Mark Kelly, Pilot Gregory H. Johnson and Mission Specialists Michael Fincke, Greg Chamitoff, Andrew Feustel and European Space Agency astronaut Roberto Vittori.
The flight is Endeavour's 25th since a maiden voyage in 1992. The youngest shuttle orbiter was built as a replacement for Challenger, the shuttle destroyed in a 1986 launch accident that killed seven astronauts. Endeavour has traveled more than 122 million miles over the course of 25 missions.
The Endeavour is the second of the last three shuttle craft to finish up, the Atlantis will follow suit this year. NASA's oldest and most travelled spacecraft Discovery made its final voyage into space in February.
Take a glimpse of Endeavour's final mission from take-off to its journey back to earth.