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The Royal Navy personnel detained at gunpoint by Iran arrived by helicopter at a Marine base in Devon this afternoon to be reunited with their families after flying back to Britain on a British Airways flight from Tehran.

As the first flight touched down in London, the Prime Minister contrasted his joy at the return of the 15 sailors and Marines with the “sober and ugly” reality of terrorism in Iraq – which he said Iran was “backing, financing arming and supporting”.

He said it was “too early” to link Iran’s regime to an attack last night which left four British soldiers and an interpreter dead in a roadside bombing near Basra. But, he continued: “The general picture, as I said before, is that there are elements at least of the Iranian regime that backing, financing, arming, supporting terrorism in Iraq.”

Later, the eight sailors and seven Marines, who shared nearly two weeks of fear, embraced each other before they were greeted by friends and family with bear hugs, kisses and tears on the tarmac of Royal Marines Base Chivenor, near Barnstaple.

In a statement released by the Royal Marines, the group said that touching down in Britain had been “a dream come true”. Marine Lieutenant Felix Carman, said: “We were completely overwhelmed the level of support that we received.”

The former detainees formed groups with their families as photographs were taken in the Spring sunshine. Laughter could be heard, and several Marines and sailors spoke on mobile phones while those standing outside the officer’s mess chatted eagerly.

One Marine, Adam Sperry, 22, spoke to his grandmother on his mobile. Her voice quivering, she told him: “I’ve thought about you. I love you to bits, love.”

The group of 15 touched down at London’s Heathrow airport shortly after midday clutching woven bags containing official Iranian gifts and, having swapped their shiny new Iranian suits for naval uniform, posed briefly for photographs.

They then took off in two Sea King helicopters for the 210-mile flight to Devon, where they will stay for medical checks, debriefing and family reunions.

The captives, including Leading Seaman Faye Turney, 26, were released yesterday in a stunning piece of political theatre by President Ahmandinejad, who brought a bizarre but welcome end to a 13-day drama that held the possibility of violent escalation.

The Prime Minister insisted today that there had been no deal done to secure the captives' release, but said discussions with Tehran during the crisis had opened up channels of communication "that have not been available to us before" and which it would be sensible to pursue.

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