Rescuers came to the descent module of the piloted spaceship Soyuz that landed at 6.58 a.m. Moscow time (2:58 a.m. GMT) and began the evacuation process of the spacemen.
"All spacemen are feeling well," the Mission Control Centre told ITAR-TASS on Wednesday.
Russian cosmonauts Pavel Vinogradov and Aleksander Misurkin, and US astronaut Christopher Cassidy, who returned to earth, had worked for more than 165 days on board the International Space Station (ISS).
Russian cosmonaut Fyodor Yurchikhin, Italian astronaut Luca Parmitano and US astronaut Karen Nyberg are staying on board the ISS.
The next ISS crew will join them on orbit on Sept 26.