The capsule landed in a training range near Salt Lake City in Utah at around 3.55pm BST.
Aerial visuals show the capsule and its accompanying parachute in the Utah desert.
The Osiris-Rex spacecraft was launched by NASA on September 8, 2016. It collected a sample – roughly 250 grams – of rocks and dust from the surface of an asteroid, called Bennu, on October 20, 2020. Osiris-Rex set off back to Earth with the sample on 10 May 2021.