The 76-year-old cleric, a top adviser to Pope Francis, was photographed at Sydney Airport early on Monday. He had arrived from the Vatican via Singapore.
Police have said the accusations relate to alleged "historical" incidents.
Cardinal Pell, who has strongly denied any wrongdoing, is due to face a Melbourne court on 26 July.
Australia's most senior Catholic figure was granted a leave of absence from the Vatican to fight the charges.
He did not make any comment on arrival in Sydney, local media said.
