STS Young Endeavour, James Craig, Soren Larsen and MV Martindale, accompanied by HMAS Melbourne and HMAS Diamantina, met the 113-metre-long, four-masted barquentine outside Sydney Heads and escorted her into the harbour.
As she passed Garden Island, Esmeralda fired a 21-gun salute and the Royal Australian Navy responded with a three-inch saluting gun, a mark of respect between the two navies.
RADM Mead said he was pleased to welcome the Chilean Navy back to Australia.
"The navies of Australia and Chile share a common interest in promoting maritime stability and security in the Pacific. This engagement with our Chilean counterparts is a beneficial opportunity to build on shared traditional maritime skills," RADM Mead said.
STS Young Endeavour’s Commanding Officer, Lieutenant Commander Andrew Callander, said seeing the four-masted barquentine again was a thrill.
"This is the first time Young Endeavour and Esmeralda have crossed paths since we rendezvoused in the Atlantic Ocean during our world voyage in 2015," LCDR Callander said.
"Young Endeavour was very pleased to be part of the fleet to welcome her to Sydney.”
While Esmeralda trains Chilean Naval personnel, Young Endeavour is one of a very few military tall ships that deliver a structured youth program to civilian youth.
Esmeralda is visiting Sydney as part of her 64th Instructional Cruise. The four-masted barquentine, with a crew of 278 Chilean Navy personnel, will remain in the harbour city until 5 August 2019.