Isabelle Prime, 30, touched down at Villacoublay air base on Friday where she was greeted by her family and the French President Francois Hollande.
Foreign Minister Laurent Fabius said France had not paid a ransom, but singled out Oman for its "enormous help" in securing her release.
Ms Prime was working as a consultant on a World Bank-funded project in Yemen.
She was captured, along with her translator Sherine Makkaoui, as they made their way to the capital Sanaa on 24 February. Ms Makkaoui was released in March.
The identity of their kidnappers has not been confirmed.
Ms Prime's father Jean-Noel said he was "unbelievably happy" to have his daughter back.
"She's in good health but I don't have any further details," he told the AFP news agency.
In June, France said that a video showing Ms Prime clearly in in distress was authentic.
Dressed in black, she appealed to President Francois Hollande and the Yemeni authorities to arrange her release because she was "really, really tired".
"I tried to kill myself several times because I know you will not co-operate and I totally understand."
Oman News Agency said the country had played a role in negotiating her freedom in co-ordination with "some Yemeni parties", after a request from the French government.
No other details of the release were given.
Oman, which borders Yemen, has helped to facilitate the release of other captives, including American journalist Casey Coombs, who was freed by Shia Houthi rebels earlier this year.
In recent years tribesmen in Yemen have kidnapped foreigners as a means of putting pressure on the government to provide them with better services or to release jailed relatives.
More than 3,000 people have been killed since a Saudi Arabian-led coalition began air strikes in March to drive back Houthi rebels.
Aid agencies say a Saudi-enforced sea and air blockade on the country has worsened the humanitarian crisis after months of conflict. More than 80% of Yemen's 25 million people now need some form of aid.
The fighting has also caused huge damage to the country's infrastructure, and the blockade has caused severe shortages of food, water, medicine and fuel.

Blackwell, 25, suffered a bleed on the brain in a loss to Eubank in March and was put in an induced coma.
The offer comes despite Blackwell saying Eubank and his father were "inhuman" in how they reacted to his life-threatening injuries post-fight.
"I ended the guy's career," Eubank Jr told ITV's Good Morning Britain.
"He said everything was OK and that there were no hard feelings, but I've stopped him being able to make a living.
"I wanted to come and see him because I had something for him, and that something is my British title belt."
READ MORE: 'I could see no light at the end of the tunnel' - Blackwell's trainer
Blackwell woke from his coma a week after the fight, which was stopped in the 10th round, without requiring an operation.
Speaking to the Sun on Monday, Blackwell was critical of the Eubanks' decision to hold a news conference while he was still in hospital.
"I was shocked when I first heard the things he had been saying because we had a little talk on social media," added Eubank Jr.
"I believe that the belt is a goodwill gesture - I'm still ready to come and give it to him.
"The guy's a true warrior, regardless of what's been said, the only thing that's important is that he is now OK, he's with his family and he can live a normal life with no restrictions."
A French woman who was taken hostage in Yemen in February has arrived in Paris after being freed by her captors.
[NEXT_CONCEPT]
British middleweight champion Chris Eubank Jr has offered to give his title belt to retired opponent Nick Blackwell as a "goodwill gesture".