Mr Johnson flew to Gatwick Airport in economy alongside his wife and children and there was “mixed reaction” as he and his family boarded the plane before everyone else, according to our US correspondent Mark Stone.
He said several passengers looked “slightly bewildered” and there were a few boos.
The flight was tracked by around 7,000 people through the FlightRadar24 website.
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Mr Johnson waved to the press after he landed at Gatwick Airport and was ushered quickly through the VIP terminal by security.
He was then taken to a Range Rover which took him away from the airport.
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Mr Johnson officially resigned six weeks ago after a series of scandals and mass resignations among his ministers but is still popular among some Tory MPs and the party membership.
Several cabinet ministers have said they would back Mr Johnson in the contest.
Former home secretary Priti Patel said she was backing Mr Johnson because he has a “proven track record”.
Earlier backers include Jacob Rees-Mogg, the business secretary, Ben Wallace, the defence secretary, and Simon Clarke, the levelling up secretary.
Mr Rees-Mogg was the first to declare himself for the former prime minister, posting on social media: “I’m backing Boris #BorisorBust.”
After ruling himself out of the race, Mr Wallace said he is “leaning towards Boris Johnson”.
He warned that colleagues “have to focus” on who will bring unity and be able to win the next election.
Tory MPs wishing to enter the race must secure the backing of 100 MPs by 2pm on Monday.
Mr Johnson remains a divisive figure, however, and some Conservative MPs have threatened to withdraw the party whip if he returns.
Lord Frost, a former Brexit minister and close ally of Mr Johnson, called on his party colleagues to back Rishi Sunak.
Jesse Norman, the Foreign Office minister, said selecting Mr Johnson as Conservative leader would be “absolutely catastrophic”.
Sir Roger Gale, the senior backbencher, reminded voters in a tweet that the former prime minister remains under investigation by the Commons privileges committee for potentially misleading the House over partygate.
Sir Roger told Times Radio that, if Mr Johnson is voted back in as prime minister, he would give up the whip and stand as an independent.
Asked about Mr Johnson’s chances at a second run for office, one cabinet minister told Beth Rigby, Sky News’ political editor: “I’d expect him to get to 100.
“Even people who resigned from his government were on the terrace yesterday telling colleagues they would now back him and members definitely will.”
A friend of Mr Johnson also told Sky News it is “likely” he will stand.
A teenage girl who was killed after getting out of a police car on the M5 in Somerset has been named.
Tamzin Hall, 17 and from Wellington, was hit by a vehicle that was travelling southbound between junction 24 for Bridgwater and junction 25 for Taunton shortly after 11pm on Monday.
She had exited a police vehicle that had stopped on the northbound side of the motorway while transporting her.
A mandatory referral was made to the Independent Office for Police Conduct, which is now carrying out its own investigation into what happened.
The police watchdog, the IOPC, has been asked to investigate.
In a statement, director David Ford, said: “This was a truly tragic incident and my thoughts are with Tamzin’s family and friends and everyone affected by the events of that evening.
“We are contacting her family to express our sympathies, explain our role, and set out how our investigation will progress. We will keep them fully updated as our investigation continues.”
Paramedics attended the motorway within minutes of the girl being hit but she was pronounced dead at the scene.
The motorway was closed in both directions while investigations took place. It was fully reopened shortly after 11am on Tuesday, Nationals Highways said.
A survivors group advocating for women allegedly assaulted by Mohamed al Fayed has said it is “grateful another abuser has been unmasked”, after allegations his brother Salah also participated in the abuse.
Justice for Harrods Survivors says it has “credible evidence” suggesting the sexual abuse allegedly perpetrated at Harrods and the billionaire’s properties “was not limited to Mr al Fayed himself”.
The group’s statement comes after three women told BBC News they were sexually assaulted by al Fayed’s brother, Salah.
One woman said she was raped by Mohamed al Fayed while working at Harrods.
Helen, who has waived her right to anonymity, said she then took a job working for his brother as an escape. She alleges she was drugged and sexually assaulted while working at Salah’s home on Park Lane, London.
Two other women have told the BBC they were taken to Monaco and the South of France, where Salah sexually abused them.
The Justice for Harrod Survivors representatives said: “We are proud to support the survivors of Salah Fayed’s abuse and are committed to achieving justice for them, no matter what it takes.”
The group added it “looks forward to the others on whom we have credible evidence – whether abusers themselves or enablers facilitating that abuse – being exposed in due course”.
Salah was one of the three Fayed brothers who co-owned Harrods.
The business, which was sold to Qatar Holdings when Mohamed al Fayed retired in 2010, has said it “supports the bravery of these women in coming forward”.
A statement issued by the famous store on Thursday evening continued: “We encourage these survivors to come forward and make their claims to the Harrods scheme, where they can apply for compensation, as well as support from a counselling perspective and through an independent survivor advocate.
“We also hope that they are looking at every appropriate avenue to them in their pursuit of justice, whether that be Harrods, the police or the Fayed family and estate.”
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13:55
Bianca Gascoigne speaks about Al Fayed abuse
The Justice for Harrods Survivors group previously said more than 400 people had contacted them regarding accusations about Mohamed al Fayed, who died last year.
One of those alleged to have been abused is Bianca Gascoigne, the daughter of former England player Paul.
Speaking to Sky News in October, Gascoigne said she was groomed and sexually assaulted by al Fayed when she worked at Harrods as a teenager.
Wes Streeting “crossed the line” by opposing assisted dying in public and the argument shouldn’t “come down to resources”, a Labour peer has said.
Speaking on Sky News’ Electoral Dysfunctionpodcast, Baroness Harriet Harman criticised the health secretary for revealing how he is going to vote on the matter when it comes before parliament later this month.
MPs are being given a free vote, meaning they can side with their conscience and not party lines, so the government is supposed to be staying neutral.
But Mr Streeting has made clear he will vote against legalising assisted dying, citing concerns end-of-life care is not good enough for people to make an informed choice, and that some could feel pressured into the decision to save the NHS money.
Baroness Harman said Mr Streeting has “crossed the line in two ways”.
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“He should not have said how he was going to vote, because that breaches neutrality and sends a signal,” she said.
“And secondly… he’s said the problem is that it will cost money to bring in an assisted dying measure, and therefore he will have to cut other services.
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“But paradoxically, he also said it would be a slippery slope because people will be forced to bring about their own death in order to save the NHS money. Well, it can’t be doing both things.
“It can’t be both costing the NHS money and saving the NHS money.”
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2:09
Review into assisted dying costs
Baroness Harman said the argument “should not come down to resources” as it is a “huge moral issue” affecting “only a tiny number of people”.
She added that people should not mistake Mr Streeting for being “a kind of proxy for Keir Starmer”.
“The government is genuinely neutral and all of those backbenchers, they can vote whichever way they want,” she added.
Prime Minister Sir Keir Starmer has previously expressed support for assisted dying, but it is not clear how he intends to vote on the issue or if he will make his decision public ahead of time.
The cabinet has varying views on the topic, with the likes of Justice Secretary Shabana Mahmood siding with Mr Streeting in her opposition but Energy Secretary Ed Miliband being for it.
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The Terminally Ill Adults (End of Life) Bill is being championed by Labour backbencher Kim Leadbeater, who wants to give people with six months left to live the choice to end their lives.
Under her proposals, two independent doctors must confirm a patient is eligible for assisted dying and a High Court judge must give their approval.
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2:30
Labour MP Kim Leadbeater discusses End of Life Bill
The bill will also include punishments of up to 14 years in prison for those who break the law, including coercing someone into ending their own life.
MPs will debate and vote on the legislation on 29 November, in what will be the first Commons vote on assisted dying since 2015, when the proposal was defeated.