Boeing's Starliner spacecraft has returned to Earth leaving its two crewmembers onboard the International Space Station.

Starliner separated from the ISS shortly after 22:00 UTC on Friday.

After reentering Earth's atmosphere, the spacecraft deployed a series of parachutes to slow its descent. It landed in the western US state of New Mexico about six hours after it undocked from the ISS.

US space agency NASA and aerospace giant Boeing plan to retrieve the craft and closely examine its condition.

Starliner lifted off in June with two NASA astronauts onboard for a test flight to the ISS.

It was initially scheduled to bring them back to Earth after about a week. But glitches found in its thrusters forced them to remain at the ISS.

Last month, NASA decided that Starliner would return to Earth but without the two astronauts for safety reasons.

The spacecraft was originally expected to be a new means to travel between Earth and the ISS, if approved by NASA after the test flight. But the glitches, and change in plans, have cast doubts on its future.

The two astronauts are now expected to return next February onboard a different spacecraft.