The president arrived at the Nnamdi Azikiwe International Airport in Abuja late on Saturday.
He was welcomed by a team of government officials and other top dignitaries, hours after he left the Galeao Air Force Basa (SBGL) Airport, Rio de Janeiro.
Tinubu attended the summit during which he endorsed the global alliance against hunger and poverty.
The Nigerian leader also held bilateral talks with the Managing Director of the International Monetary Fund (IMF) Kristalina Georgieva who praised reforms by President Tinubu.