Just a handful of miles separated the monohull, skippered by Nick Moloney, and its two nearest contenders, Sill Plein Fruit and Ecover, as they approached their final destination in France.
But it was Kingfisher that emerged from the mist first, almost catching spectators and race officials by surprise, to win the fifth leg, which started in Boston on 14 August.
It was the yacht's third successive win in the race, having been pipped to the post in the first two legs by French favourite Sill Plein Fruit.
"I'm unbelievably stoked about the whole thing I don't know what to say, it's been an awesome ride and a real team victory thanks to everyone," said Maloney.
Sill Plein Fruit finished second on Saturday, about forty minutes behind Kingfisher and also takes second place overall for the Race, while Ecover came in third.
Kingfisher, which started the final leg with a six-point lead, set off from America 11 days ago at 1700 BST and arrived at the French port just after 1600 BST on Saturday.
Kingfisher, which receives 300,000 French francs (£30,000) for its win, will be delighted with the result, especially having been the subject of high expectations.
The yacht's seasoned crew included the newly-crowned queen of sailing Ellen MacArthur for the first three legs.
MacArthur, who shot to fame earlier in the year for her solo efforts in the Vendee Globe Challenge, was not on hand to welcome her team, but was overjoyed by the news.
"It's been an awesome event for us, sailing with some very experienced and top sailors.
"It was a hard, but necessary decision to not stay onboard for the last two legs."
Winning co-skipper Maloney was clearly relieved that patience has paid off for him and his crew after a very tense final stage.
"This last leg was truly awesome racing, we've been so close for most of the 2800 miles and so fast until the last few days," Maloney added.
"We knew that Sill would be most concerned about covering Ecover at the finish in order to protect their second place, but it didn't stop it being one of the most stressful race finishes of our lives!"
Fila and Gartmore were fourth and fifth in the final leg as the all-girl team aboard AlphaGraphics battled through the winds and finally finished on Wednesday.