Tokyo: Three Japanese whaling ships have returned to their home port with 333 minke whales following a hunting trip to Antarctica that attracted international protests and condemnation.

The Nisshin Maru and two other ships arrived in the city of Shimonoseki on Saturday, bringing with them a massive catch of sea mammals harpooned during the Antarctic journey.

The whales had officially been harpooned and killed for "scientific purposes".

Unlike in previous years, the ships did not report any disruptions from the environmental protection group Sea Shepherd, Japanese media reported.

Sea Shepherd announced last year it was abandoning its annual face-off with Japanese whaling ships in Antarctic waters, saying it had little chance of success against Japan's economic and military might.