Royal Borough of Windsor and Maidenhead spent Â£160,000 trying to move 10 caravans from Shurlock Row, Berkshire.
Those occupying the land lost appeals and finally a judicial review bid to remain at the site in 2016.
The authority said the group had now left voluntarily and an order imposed to restore the site to its original condition within 28 days.
Councillor Derek Wilson said residents in the area had been "waiting for this day".
He added: "The occupiers were in breach of planning control and we followed every procedure correctly to get to this point as swiftly as was legally possible."
Grass had been paved over and machinery installed without planning permission following the group's arrival in December 2009, the council said.
An enforcement notice was issued ordering them to stop using the land.
The travellers lodged an appeal in 2010 which was unsuccessful and they were given until February 2013 to leave but failed to do so.
After another unsuccessful appeal, they applied for a judicial review.
This was refused by the High Court, the Court of Appeal and finally the Supreme Court in August 2016.

Media playback is not supported on this device
Britain's Murray and Switzerland's Hingis won 6-4 6-4 in one hour four minutes on Centre Court.
Both Murray and Hingis are bidding for their second Wimbledon mixed doubles titles.
Britain's Heather Watson and Finland's Henri Kontinen, who won the title last year, are also into the last four.
They progressed via a 6-7 (4-7) 6-4 7-5 win over India's Rohan Bopanna and Canada's Gabriela Dabrowski and will play the second-seeded pair, Brazilian Bruno Soares and Russian Elena Vesnina, in the semi-finals.
Kontinen is hoping to pick up his third Grand Slam title after winning the Australian Open doubles in January alongside John Peers.
Murray, who lifted the SW19 mixed doubles title in 2007 alongside Serbia's Jelena Jankovic, and Hingis, who won it in 2015 with Indian Leander Paes, will play the Spanish-Brazilian combination of Maria Martinez Sanchez and Marcelo Demoliner.
The pair only announced their partnership last week and again looked comfortable as a partnership on the court.
Hingis has won five mixed doubles titles at Grand Slams as well as 12 women's doubles and five singles competitions - including Wimbledon in 1997.
Murray won men's doubles titles at the Australian Open and US Open last year with Brazil's Bruno Soares.
Media playback is not supported on this device
Travellers who sparked a Supreme Court legal battle by pitching at a site for more than seven years have left.
[NEXT_CONCEPT]
Jamie Murray and Martina Hingis beat British pair Ken Skupski and Jocelyn Rae to reach the Wimbledon mixed doubles semi-finals.