The musician and campaigner arrived at Heathrow Airport on a flight from the US and made his way to his home in Battersea, south west London. He was joined by his 23-year-old daughter Pixie.
A post-mortem is scheduled to go ahead imminently, and forensic experts continue to search Peaches' family home in Kent.
Early reports have confirmed that police officers found "no evidence of hard drugs, no visible signs of injury and no suicide note" at the five bedroom- house she shared with second husband Thomas Cohen and sons Astala and Phaedra.
Thomas said after her death: "My beloved wife Peaches was adored by myself and her two sons. I shall bring them up with their mother in their hearts every day. We shall love her forever."
Officers who found Peaches after responding to a call by worried neighbours have described the death as "unexplained" and "not suspicious".
Peaches and Bob at a London Fashion Week event in 2009
The blonde-haired beauty once said, marveling about her luck at being a mother: "I honestly never thought anything in my life would ever be good."
For that's how the 25-year-old daughter of Bob saw herself: blessed at having been able to create a perfect little family with Tom.
The former wild child threw herself wholeheartedly into caring for Astala and Phaedra, admitting: "I'm obsessed with getting it right. I want to be a good wife, a good mother and a good person."
Peaches' close friend Kelly Osbourne was among many stars to express their sadness at the loss of the model, journalist, mum and wife. As was her own mum Sharon, The Saturdays' stars Rochelle Humes and Mollie King, as well as Daisy Lowe, who opted for a symbolic emoticon over words.