The last two Americans serving lengthy prison sentences in North Korea have arrived home after the reclusive state freed them following a secret mission by US intelligence chief James Clapper.

Kenneth Bae and Matthew Miller arrived around 9pm Saturday night at Joint Base Lewis-McChord in Washington State (1pm Sunday AEDST).

The men disembarked the US government plane with luggage, then embraced family and friends on the tarmac.

They arrived with heads shaved. Bae wore khakis and a dark shirt, while Miller wore dark pants, a jacket and grey shirt.