The cyclists, who left HMS Victory, Portsmouth, last Monday, rode 350 miles across northern France as part of the Halfords Help For Heroes Bike Ride – raising more than £1m.
The campaign was set up to offer care and support to men and women injured while on active service.
And they were joined by hundreds more cyclists, including London Mayor Boris Johnson, for the final leg of the journey, from Whitehall to the Cenotaph, where they placed wreaths and held a two-minute silence yesterday.
Among those taking part was a team of patients and staff from Headley Court, the defence medical rehabilitation centre, made up of wounded servicemen, who took part on adapted bikes.
Founder of the charity Bryn Parry said: 'We have had some injuries and ridden up to 80 miles a day but the most extraordinary thing has been the wonderful sense of teamwork.'
Craig Dryden, 23, of HMS Collingwood, Fareham, lost a leg two years ago when he was bitten by a spider in Gibraltar. He spent a year recovering at Headley Court.
He said: 'We had about 3,000 people join us for the last part in London, and it was incredible.
'It was pretty emotional stuff. I'm a bit achy today, but to achieve this personal challenge was a big achievement for me, and to see all the other lads get through it was brilliant as well.'