The East Anglian Air Ambulance flight HLE85, had one of its engines shut down while returning from north Norfolk.
The helicopter declared the emergency at 11.57am on Saturday, 1,000 feet in the air near Aylsham.
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Fire crews from Sprowston, Carrow and Earlham were called to the airport to provide emergency support.
The air ambulance, EC45, managed to resolve the issue where it safely landed at Norwich airport less than 10 minutes later at 12.05pm.
No injuries were recorded with fire crews stood down shortly after.
It is not clear if the air ambulance has been grounded or if it can resume operations.
East Anglian Air Ambulance has been contacted for comment.