Covering a total of 2,661km, the 32-day event from Ben Nevis to Big Ben started on June 10.
The baton arrived at Victorial Bridge at 10.40am to meet a welcome party including local schoolchildren and councillors.
It then joined a ‘climate convoy’ at 11am as part of its journey, starting with walkers, wheelers, runners and cyclists.
The baton holder was Cllr Elissa Swinglehurst, cabinet member for environment at Herefordshire Council.
After departing Victoria Bridge, the convoy headed along the Great Western Way, cheered by local schoolchildren, and to the Courtyard in Edgar Street.
Schools who took part included St Thomas Cantilupe, Lord Scudamore Academy and Riverside Primary School, while the event was supported by organisations such as HVOSS (Herefordshire Voluntary Organisations Support Service) and Wye Valley NHS Trust.