Passengers were greeted with complimentary amenity bags, which included a sleeping mask, ear buds, a Qantas fleece blanket and a toothbrush.
Emirates Airline Flight 449, with Airbus A380 superjumbos, from Auckland to Dubai, travels a distance of 14,200 km in 17 and a half hours.
Flight QF9 flew over the Indian Ocean, where it traversed India's southern tip, then passed Oman, Iran, Turkey, Romania, Hungary, Austria, Germany, Belgium before landing at London's Heathrow Airport.
Qantas says it will run flights non-stop from London to Sydney in the next five yearsIt arrived carrying more than 200 passengers and 16 crew, having left Perth at 6.49pm local time on Saturday.
Speaking at an event ahead of the inaugural flight, he said the earliest Qantas flights between Australia and the United Kingdom - known as the "kangaroo route" - had taken four days and involved seven stops. "Now we can do it in a single leap", Joyce adds.
Tourism Minister Paul Papalia said the direct flight would change the way people travel between Europe and Australia.
But key industry figures are buoyed by the new direct flight and the prospect of more to come, with Perth Airport chief executive Kevin Brown saying the facility had plenty of capacity for more routes.
Joyce added: "The response to the flight has been incredible, both for the attention it's received since we announced it and the bookings we've seen coming in".
For travellers coming to Perth from Melbourne, however, the total time saving for the journey to Heathrow is only about one hour.
Joyce said a lot of work had gone into creating an experience that would help passengers cope with a 17-hour flight. An airline spokesman said there were markets for both types of flights with price, timing and connections among the factors.
Simon Eastburn, Director of Airline Business Development at Heathrow said: "We are delighted to be supporting the very first direct air link between Europe and Australia, a true milestone moment, for a hugely popular route".
Turbulence-sensing technology smooths out the ride while various solutions reduce cabin noise.
'Qantas will certainly be hoping to attract a higher proportion of premium customers due to the speed advantage combined with the 787's better cabin atmosphere'.