The Chinook choppers landed in a field near Marshall Meadows on Saturday afternoon, with one taking off again at around 4pm.
The other helicopter remained grounded for two nights, eventually leaving on Monday morning after repairs had been carried out.
An RAF spokesman said that three Chinook helicopters had left RAF Odiham in North Hampshire on Saturday morning en-route to RAF Kinloss, near Inverness, in the first leg of an exercise taking them to Norway.
However, while over the North Sea, one of the helicopters experienced a hydraulic problem and it and another helicopter turned round and landed near Berwick on Saturday.
Later, on Saturday afternoon, the operational Chinook took off to complete its journey to RAF Kinloss, while spares were sent up from RAF Odiham to fix the grounded aircraft. These arrived by road, and the repaired Chinook was able to join the other two at RAF Kinloss on Monday.