The plane carrying the spiritual leader of the world's 1.1 billion Catholics touched down at Richmond military airbase in Sydney's northwest around 3pm (0500 GMT).
Benedict disembarked shortly afterwards and made his way swiftly from the aircraft where he was met by Prime Minister Kevin Rudd and the leader of the church in Australia, Sydney Archbishop George Pell.
It is Benedict's first visit Down Under and he has promised to apologise for past sexual abuse by the Catholic clergy in Australia during the July 13 to 21 visit.