Dua- On the return from a journey recite

On the return from a journey recite
أَوْبَاً أَوْبَاً لِرَبِّنَا تَوْبَاً لَا يُغَادِرُ عَلَيْنَا حَوْبَاً
"I have come back, I have come back, I seek forgiveness from Allah with such a repentance that leaves me with no sin".

(Hisnul Hasin from Abi Yala)

Dua-On the return journey when entering one's own city recite

آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ
"We are returning, repenting and obedient to Allah, praising Him".

(Hisnul Hisn)
Prophet Mohammad (S.A.W.)'s blessed habit was to return from a journey during chast time within the city. He would first go to the Masjid, perform two rakaats Salaats. Thereafter he would stay in the Masjid for a little while and then go home.

(Bukhari, Muslim)
Prophet Mohammad (S.A.W.) loved to journey on Thursdays.

(Bukhari)

Dua-Etiquettes on returning from a journey

When returning from a journey one should sit on the mode of conveyance and recite:
اللَّهُمَّ إِنَّا نَسْأَلُكَ فِي سَفَرِنَا هَذَا الْبِرَّ وَالتَّقْوَى
On departing, recite all journey duas and be concerned about the etiquettes of a journey and on every ascend recite "Allahu-Akbar" thrice and recite:
لَا إِلَهَ إِلَّا اللَّهُ وَحْدَهُ لَا شَرِيكَ لَهُ لَهُ الْمُلْكُ وَلَهُ الْحَمْدُ وَهُوَ عَلَى كُلِّ شَيْءٍ قَدِيرٍ آيِبُونَ تَائِبُونَ عَابِدُونَ سَاجِدُونَ لِرَبِّنَا حَامِدُونَ صَدقَ اللَّهُ وَعْدَهُ وَنَصَرَ عَبْدَهُ وَهَزَمَ الْأَحْزَابَ وَحْدَهُ
"There is none worthy of worship besides Allah who has no partner, His is the Kingdom and to him is all praise, for He has created everything. We are those returning, repenting and obedient to Allah, performing Sajda, praising Allah, Allah has made truth (fullfilled) His promise and aided His servant and defeated the enemy armies Alone."

(Mishkat)

At the time of Sehri while on a journey recite

سَمْعُ سَامِعٍ بِحَمْدِ اللَّهِ وَنِعْمَتِهِ وَحُسْنِ بَلَائِهِ عَلَيْنَا رَبَّنَا صَاحِبْنَا وَأَفْضِلْ عَلَيْنَا عَائِذَاً بِاللَّهِ مِنَ النَّارِ
"The heaven has heared our praise of Allah and also heard our testification that He favours us and keeps us in good condition. Our Lord stay with us and grant us your favours and I make dua to seek refuge from Allah from Jahannam (hell fire)".

(Hisnul Hasin from Muslim etc)
It is also narrated that this dua be recited three times in a raised voice.

(Hisnul Hasin from Mustahab)
Note:
Prophet Mohammad (S.A.W.) stated that if a person on journey refrains from worldly affairs in his heart and focuses his attention to Allah and remembers Him, the angels stay with him throughout the journey and if he recites imaginary poetry or does any futile thing then Satan stays with him during his journey.

(Hisnul Hasin)
Prophet Mohammad (S.A.W.) told Jabir bin Mutim (R.A.) to recite the following five Suras when on journey:
1- Surah Kaafiroon
2- Surah Nasr
3- Surah Ikhlaas
4- Surah Falaq
5- Surah Naas
Every Surah should commence with "Bismillah" and Surah Naas should end with "Bismillah" as well, thus reciting "Bismillah" six times.
Jabir (R.A.) states: "When I went out on journey (and although I was wealthy and had more merchandise than my companions), my conditions were worse than them, but from the time I began reciting these surahs, on return my condition was better than all of them, and I had most provisions of the journey".

(Hisnul Hasin)

Dua-When night while on a journey recite

يَا أَرْضُ رَبِّي وَرَبُّكِ اللَّهُ أَعُوذُ بِاللَّهِ مِنْ شَرِّكِ وَشَرِّ مَا خُلِقَ فِيكِ وَشَرِّ مَا يَدُبُّ عَلَيْكِ وَأَعُوذُ بِاللَّهِ مِنْ أَسَدٍ وَأُسُودٍ وَمِنَ الْحَيَّةِ وَالْعَقْرَبِ وَمِنْ شَرِّ سَاكِنِي الْبَلَدِ وَمِنْ وَالِدٍ وَمَا وَلَدَ
"Oh Earth, your Lord, and my Lord is Allah. I seek refuge in Allah from the evil (of your nights) and those evils created in you and that which moves in you and seek refuge in Allah from the lions, snakes, scorpions and from the evils of the dwellers of the city and from the father and children".

(Hisnul Hasin from Abu Dawood)