Florida's spaceport was packed with shuttle program workers, journalists and even some schoolchildren eager to see history in the making.
The six astronauts on board went through their landing checklists with the bittersweet realization no one would ever ride Discovery again. They said during their 13-day space station delivery mission that they expected that to hit them hard when the shuttle came to a stop on the runway.
At three minutes before noon Eastern Time Discovery landed and ceased being a reusable rocketship.
"For the final time: wheels stop," Discovery's commander Steven Lindsey called out as the shuttle rolled to a stop.
Even after shuttles Endeavour and Atlantis make their final voyages in the coming months, Discovery will still hold the all-time record with 39 missions, 148 million miles, 5,830 orbits of Earth, and 365 days spent in space. All that was achieved in under 27 years.
Discovery now leads the way to retirement as NASA winds down the 30-year shuttle program in favor of interplanetary travel.
NASA estimates it will take several months of work removing the three main engines and draining all hazardous fuels before Discovery is ready to head to the Smithsonian Institution. It will make the 750-mile journey strapped to the top of a jumbo jet.
Throughout the flight, Lindsey and his crew marveled at how well Discovery was performing. They noted that the spacecraft was going into retirement still "at the top of her game."
"A dream machine," observed Lindsey's co-pilot, Eric Boe, on the eve of landing.
Discovery's last mission ended up being flawless despite a four-month grounding for fuel tank repairs.
Perhaps more than any other shuttle, Discovery consistently delivered.
It made its debut in 1984 following shuttles Columbia and Challenger, dispatched the Hubble Space Telescope in 1990, flew the first shuttle rendezvous to Russia's Mir space station and carried the first female shuttle pilot in 1995, and gave another ride into space to John Glenn, the first American to orbit the Earth, in 1998.
It got NASA flying again, in 1988 and 2005, following the Challenger and Columbia disasters. And it flew 13 times to the International Space Station, more than any other craft. On its last trip, it delivered a new storage compartment packed with supplies and a humanoid robot.
NASA's boss, Charles Bolden, a former shuttle commander, led the welcoming party. He'll announce the final homes for Endeavour and Atlantis on April 12 30 years to the day that Columbia soared on the first shuttle flight.
NASA planned to move Endeavour out to the launch pad Wednesday night for its April 19 liftoff, but delayed the move until Thursday because bad weather was expected. The mission will be commanded by the husband of wounded Rep. Gabrielle Giffords, Mark Kelly. His identical twin brother Scott is currently the skipper of the space station; he returns to Earth next week on a Russian Soyuz spacecraft.
Atlantis is slated to make its last trip at the end of June.
NASA is under presidential direction to spread its wings beyond low-Earth orbit. The goal is to send astronauts to an asteroid and then Mars in the decades ahead. There is not enough money for NASA to achieve that and maintain the shuttle program at the same time. As a result, the shuttles will stop flying this summer after 30 years.
American astronauts will keep hitching rides to the space station on Russian capsules, until private companies are able to provide taxi service to and from orbit. NASA expects to get another nine years out of the space station.