The 52-year-old said he was tired as he left the airport but appeared to be in good spirits.
Mr Guo was among thousands of pro-democracy protesters who gathered in Tiananmen Square on June 4, 1989.
An interview about his experience that night during the lead-up to the 25th anniversary of the event is believed to be linked to his deportation.
He was detained by Chinese authorities and held in detention before being placed on a China Airlines flight to Sydney.
Guo Jian was born in China but lived in Australia for almost two decades, moving back to Beijing in 2005.
Human rights groups claim dozens of people were detained in the lead-up to the Tiananmen anniversary on June 4.
Earlier this month the Australian government said it would support the artist, who was born in China but is an Australian citizen.
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