New Zealand yacht Camper was the first of the six competing boats to cross the finish line in Galway Bay.
French yacht Groupama finished second in the final leg, which was enough to be crowned the overall winner of the race.
Groupama crew member, Kerryman Damien Foxall, said being on board the winning yacht and finishing in Ireland was an unbeatable combination.
Winning skipper Franck Cammas said: "This is an incredible moment for me.
"It was always my dream just to participate in this race. The first book I ever read was about this race and it hasn't sunk in yet.
"The race started badly for us but every single member of the team raised their level and that's what saw us home.”
The six boats had set sail from Lorient in France on Sunday and had passed Fastnet Rock on their way to Galway.
The race involved a nine-month voyage across four oceans and 10 countries, including South Africa, China, New Zealand, Brazil, the US, France and Portugal.