Interstate travellers from hotspots must be fully vaccinated, return a negative COVID test and obtain a border pass.

Border passes can be obtained from the Queensland Government website.

Queensland Police Commissioner Katarina Carroll said a number of people were travelling into the state without a border pass.

"Can I ask everyone that they really do take their time filling out the border pass? It only takes five minutes, it's very, very easy and it will actually guide you to the pass that you require. But some people are reading through that quite quickly and not obtaining the right pass," Commissioner Carroll said.

"We've had a few incidents where people have come to the border, the road border, or even on a flight without a pass. You must have a pass coming into Queensland."

Arrivals must also get another COVID test on their fifth day in Queensland.

Unvaccinated interstate visitors can also enter Queensland but must arrive by air and spend 14 days in hotel quarantine.

Australian citizens or permanent residents living overseas can fly directly into Queensland via Brisbane International Airport.

Immediate family members travelling with a citizen or permanent resident can also arrive in Queensland from overseas.

International arrivals must be fully vaccinated, return a negative COVID test prior to departure and do 14 days of home or hotel quarantine.

Fully vaccinated border zone residents with a border pass will be able to move freely across the border with no test required.

Border zone residents who are not fully vaccinated will only be able to cross the border for limited reasons.

Families and friends have been reunited at Brisbane Airport after Queensland reopened its international and interstate borders ahead of schedule on Monday.

Video clips showed a mother and son hug as the Australian Girls Choir fittingly sang "I still call Australia home" to welcome arrivals to the Sunshine State.

The mother was holding a "Welcome home Mr and Mrs" sign to greet her newly-married son and daughter-in-law from the UK.

"My son and daughter-in-law who have been living in England for five years. Were planning to get married in 2020 in Greece and we were all going. But, of course, we couldn't do that," the mother told ABC News.

"So they got married in September this year, and we're now welcoming them home after five years. So we're so excited."

The clips were posted to Instagram by Labor Leader Anthony Albanese on Monday.

"Beautiful scenes at Brisbane Airport with families reuniting. Congratulations Queenslanders. Shoutout to the Australian Girls Choir for a beautiful rendition," Mr Albanese captioned the post.

Meanwhile, Queensland Premier Annastacia Palaszczuk said "this is going to be a very, very special time of the year".

"As a government, we've been very conscious of how important this is to reunite families," she wrote on Facebook.

"Queensland's cautious approach has kept Queensland safe. We will live with COVID - but on our terms."

Queensland reopened its borders at 1am on Monday, December 13 after the state reached its 80 per cent vaccination target earlier than expected last week.