Nasa astronauts Butch Wilmore and Suni Williams have returned to Earth after their SpaceX capsule spectacularly splashed down off the coast of Florida.

Williams and Wilmore returned to Earth after the pair endured an unexpected extended stay on the International Space Station.

Wilmore and Williams, who had been stuck at the ISS for nine months after problems with Boeing's new capsule, returned in the SpaceX capsule along with two other astronauts.

The Nasa control room erupted in cheers as the capsule touched down safely on the vast blue waters, accompanied by four parachutes.

Stranded Nasa astronauts splash down after SpaceX rescue mission

The recovery vessel, named Megan, bobbed along the water as the astronauts awaited their rescue crew to retrieve them from the capsule.

Dolphins circled the capsule as the rescue crew got to work on removing the astronauts, which left the Nasa control room amazed.

Following a 17-hour journey back down to earth, Wilmore, Williams and the accompanying astronauts will placed on stretchers and taken to Nasa's medical team for initial health checks.

Due to living without gravity for more than nine months, it is Nasa protocol for them to placed on a stretcher.

Nasa Astronauts Butch Wilmore and Suni Williams have returned to earth after being stranded for nine months

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The SpaceX Capsule splashed down off the coast of Florida