The remaining five Australians from the infamous “Bali Nine” drug gang are “relieved and happy” to be home after Canberra struck a deal with Jakarta to end their two decades of imprisonment.

The high-profile case began in 2005 when Indonesia caught nine young Australians trying to smuggle 8.3kg (18lb) of heroin out of Bali strapped to their bodies. The eight men and one woman were arrested at an airport and hotel in Bali after a tip-off from Australian police.

The five remaining members of the so-called Bali Nine drug-smuggling ring have returned to Australia after serving nearly two decades in Indonesian prisons.

Australia's prime minister says five Australians who have spent almost 20 years in Indonesian prisons for heroin trafficking have returned to Australia under a deal struck between the two governments.

The men were the last Australians still imprisoned in Indonesia for trying to smuggle heroin in 2005, in a case that became a diplomatic flashpoint between the countries.

Prime minister Anthony Albanese confirmed the return of Matthew Norman, Scott Rush, Martin Stephens, Si Yi Chen, and Michael Czugaj in a statement on Sunday. "These Australians served more than 19 years in prison in Indonesia. It was time for them to come home," Mr Albanese said.

Two of the five remaining Bali Nine prisoners were seen for the first time following news of their transfer home.

Australia's government said on Sunday that five members of the "Bali Nine" drug ring have returned from Indonesia, after diplomatic efforts between the countries this month to strike a repatriation deal.

The remaining five Australians from the infamous heroin-trafficking “Bali Nine” gang have returned home after Canberra struck a deal with Indonesia to end their two decades of imprisonment overseas.

Five of the so-called “Bali Nine” prisoners were returned to Australia, more than 19 years after their arrests in a drug smuggling case that periodically damaged ties with Indonesia.