Most of the arrivals, mainly women and children, showed little emotion as they waited for the army to search them before being allowed in.
Each family was given two handouts, one bearing photos of munitions that still litter part of the camp and the other specifying areas that remain off-limits.
"I am scared of what is waiting for us and I know that our house was partially destroyed," Insaf Fouad, 25, said.
Waleed Abu Heit, a Palestinian cleric who fled at the onset of the fighting, said that although he was glad to be returning home it was a bittersweet moment.
"I am filled with a lot of sadness when I see all the destruction," he said.
"We thought we would never come back and that we would once again be left homeless like our parents when they left Palestine."
The majority of the 31,000 Palestinian refugees living in Nahr al-Bared were forced to flee the camp at the onset of the fighting in May.