The 9,000-mile flight from Perth, one of the world's most isolated cities, marks the first direct passenger service between the continents.
The first flight non-stop flight between Australia and Europe has arrived at London Heathrow Airport.
Qantas is using a Boeing 787-9 Dreamliner, which is twice as fuel-efficient as the usual Boeing 747.
The long-haul flight has cut three hours travel time off the old route, which involves a stop-off in in Singapore or the Middle East. Australia's first direct flight to the United Kingdom took off today from Perth.
'This is a truly historic flight that opens up a new era of travel.
Mr. Joyce said in a statement: "The original Kangaroo Route from Australia to London was named for the seven stops it made over four days back in 1947".
According to the International Air Transport Association, the flight QF9 is world's second-longest after Qatar Airways' route from Doha to Auckland, which spans 14,529km.
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As well as varying cabin pressure and the introduction of mood lighting, Qantas is teaming up with Sydney University to measure passenger sleep and movement onboard.
The plane was fitted with special features to minimise discomfort during the journey including measures which minimised noise.
The flight is also expected boost tourism on Western Australia's less populated western coast - which is often neglected by tourists as it can be more hard to travel to than the east.
Aviation consultant John Strickland said the launch of the flights is a significant moment for the airline industry.
"It is an historic day for Western Australia; an historic for aviation; an historic day Qantas - it is the best service that Qantas has ever put in the air".
The airline unveiled plans for the world's longest non-stop commercial flight, for the "last frontier of global aviation", back in August a year ago.
A Qantas Boeing 787 Dreamliner lands at Heathrow Airport marking the first ever non-stop flight between the two countries.