The reentry module landed safely at the expected site in central Inner Mongolia Autonomous Region at about 1:59 p.m.
The ground search team reached the landing site immediately, and astronauts Jing Haipeng and Chen Dong opened the capsule's hatch by themselves.
The two astronauts were reported by the ground team to be in good condition.
The two astronauts arrived in Beijing Friday evening and will be quarantined and undergo medical check-ups.
The mission of Shenzhou-11 marked China's sixth manned space flight.
After its launch on Oct. 17, the spacecraft docked two days later with China's first space lab, Tiangong-2, where the two astronauts lived for 30 days.
The mission transported personnel and materials between Earth and Tiangong-2, and tested meeting, docking and return processes.
It conducted aerospace medical experiments, space science experiments and in-orbit maintenance.
The two astronauts also conducted three experiments designed by middle school students from the Hong Kong Special Administrative Region, including raising silkworms in space.
It was the third space mission for 50-year-old veteran Jing Haipeng, the commander of the crew, who also participated in the Shenzhou-7 and Shenzhou-9 missions.
It was the first space mission for Chen Dong, 38.
The mission is a key step toward China's aim of building a permanent manned space station.
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