Military spokesman Major General John Lorimer says all aircraft returned safely to the UK - Footage of Tornados courtesy MoD
The UK Ministry of Defence has said it is "entirely comfortable" with the outcome of the airstrikes on Libya.
RAF Tornados carried out a bombing mission, while a British submarine fired Tomahawk missiles.The government is due to hold a meeting of its emergency management committee Cobra at 1800 GMT.
France, the US, Canada and Italy have also joined the UN-backed operation to protect civilians from attacks by Col Gaddafi's forces.
French jets launched a second day of operations over Libya but their planes did not open fire because they met no resistance.
Saturday's operation, which targeted an "integrated air defence system" in Libya, was the longest range bombing mission carried out by the RAF since the 1982 Falklands War.
Defence Secretary Liam Fox said RAF Typhoon and Tornado jets are to be deployed to a military base - Gioia del Colle - in southern Italy.
'Successful' The UK launched Tomahawk missiles from a Trafalgar class Royal Navy submarine, which were aimed at targets around the coastal cities of Tripoli and Misrata.
At least 110 missiles were fired by the US and UK, and they hit 20 of 22 targets causing "various levels of damage", the US military said on Sunday.
Dr Fox said early indications suggested the operation was "very successful".
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Liam Fox MP: "If necessary we will carry out further attacks."
Asked how long the campaign would take, he said he hoped it would be over as "quickly as possible".
But he added: "That is dependent on how quickly Gaddafi recognises that the game is up."
The RAF Tornados flew from Norfolk and concentrated on targets around the Libyan capital Tripoli.
Speaking after a briefing at the MoD, Air Vice Marshal Phil Osborn said the bombing mission had been "fairly complex".
He said the Storm Shadow weapons used by the jets on their eight hours' round trip had attacked targets with an accuracy of between one to two metres.
Air Vice Marshal Osborn added that the RAF's Typhoon fast jets, currently based at RAF Coningsby in Lincolnshire, were being prepared to be deployed "if and when required".
Captain Karl Evans, Chief of Naval Staff, said the submarine which fired Tomahawk cruise missiles during last night's mission was still in position to attack Libya, while two Royal Navy ships were taking part in a naval blockade.
'Just cause' Libyan state TV reported that what it called the "crusader enemy" had bombed civilian areas of Tripoli, as well as fuel storage tanks supplying the western city of Misrata.
A Libyan government spokesman described the coalition attacks as "aggression without excuse" and claimed Col Gaddafi had accepted the UN resolution and declared a ceasefire.
He claimed many civilians had been hurt and said ambulance crews had been "doing their best to save as many lives as possible".Prime Minister David Cameron said it was a "just cause" and in "Britain's best interests".
"We have all seen the appalling brutality meted out by Col Gaddafi against his own people," he said.
Labour leader Ed Miliband said the international community "could not have stood by as innocent people were slaughtered".
Meanwhile protesters from the Stop The War Coalition held a protest outside Downing Street on Sunday.
The organisation has condemned the military action, saying it would not stop the civil war and was a "prelude to a wider war with substantial loss of civilian lives".
'Ignored warning' The former British ambassador to Libya, Oliver Miles, told the BBC it was clear the long-term aim of the military action was to overthrow Col Gaddafi.
While the UN resolution does not allow for regime change, Foreign Secretary William Hague said he could not see a future with Col Gaddafi in charge. "We want him to go", he told Sky News.
A British journalist was being held by Libyan authorities in the capital Tripoli, Arab television station Al Jazeera revealed on Saturday night.
Cameraman Kamel Atalua was detained with a fellow cameraman and two correspondents, after the team had been reporting from Libya for several days.
The military action follows the passing of a UN resolution imposing a ban on all flights in Libyan airspace, excluding aid flights, and authorises member states to "take all necessary measures" to "protect civilians and civilian populated areas under threat of attack".
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