The crew capsule of the spacecraft touched down at 7:58 a.m. U.S. Eastern Time (1258 GMT) at White Sands Missile Range, a military testing area, according to NASA.
The crew capsule, lifted off on Friday, went out of its planned orbit after separation with the rocket, resulting in a cut-short unmanned mission.
About half hour before the landing, the spacecraft completed deorbit burn, separation with its service module, parachute deployment, heat shield jettison and airbag inflation.
NASA called it a "bull's eye" landing and the Starliner was reported in good shape after completing 33 orbits of the Earth.
It marked the first time an American-made, human-rated capsule has landed on land, according to NASA.
However, the failure to demonstrate a docking with the space station, the core objective of the mission, was a setback for NASA's attempt to bring American astronauts to the space station with U.S.-made spacecraft instead of relying on a Russian spaceship.
NASA contracted Boeing and SpaceX to build two vehicles in 2014. SpaceX's Crew Dragon spacecraft completed its debut unmanned flight in March and is expected to have a manned flight in 2020.
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