The singer, 38, kicked off the British leg of her Showgirl Homecoming Tour in front of 12,000 fans at Wembley Arena in northwest London on Sunday night.
Minogue, who was based in London for many years, made five costume changes during the show and dazzled in one shimmering outfit of sequins and feathers.
The gig was Minogue's first in Britain since she was diagnosed with cancer in May 2005, forcing her to suspend the Showgirl tour in Australia, but the singer resumed performances in her homeland in November 2006.
The star had boasted that the Wembley show -- for which a ticket was 65 pounds (127 dollars, 97 euros) -- would be "the biggest party of all".
Minogue has another six dates planned at Wembley, followed by a further six in Manchester, northwest England.
The singer's record company has also said she is working on material which could be released later this year.
Minogue had surgery for breast cancer in Melbourne in May 2005, followed by a course of chemotherapy in Paris where her French actor boyfriend, Olivier Martinez, has a home. The pair spent Christmas together.
During her recovery she wrote a children's book, "The Showgirl Princess" and launched her own perfume called "Darling".
Minogue is Australia's biggest pop star with an estimated 40 million records sold worldwide.
Her hits include "I Should Be So Lucky" (1988), "Can't Get You Out of My Head" (2001), "Slow" (2003) and "I Believe in You" (2004).