The striker, 77, with his family, visited the North London venue to say one last heartfelt goodbye to the stadium where he spent nine-and-a-half seasons as a player.
Greaves netted 266 goals in 381 appearances for Spurs winning two FA Cups, one league title and a European Cup Winners Cup with the side.
The images from the visit are the first to be released of the 77-year-old since he suffered a life-threatening stroke in May 2015.
He has been confined to a wheelchair since his illness but joked about having a “kickabout” as he was joined by his family pitch side.
Ex-Tottenham striker Jimmy Greaves made an emotional return to White Hart Lane
I didn’t really know it was coming but it’s fabulous
Speaking to Spurs TV about the visit, Greaves said: “It’s marvellous. I didn’t really know it was coming but it’s fabulous.
“I thought right, let’s have a lot of fun, and we did.”
Greaves was also part of England’s heroic 1966 World Cup-winning squad, playing a crucial role in the team before being hampered with injuries and eventually replaced by Geoff Hurst in the team.
The 77-year-old spent four hours touring the ground, the first time he has been able to visit since being inducted into Spur’s hall of fame.
Greaves was told by doctors he will never walk again and spend the rest of his life in a wheelchair after following the stroke.
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The striker said: “I remain in a wheelchair and it’s now likely I will stay this way for the rest of my life.
“The doctors have told me I won’t walk again and that I will always need ongoing care.
“It was devastating to hear them say that but I will never stop trying to get better – and the main thing is that I’m still here fighting all the way.
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“My day-to-day life has changed quite considerably, but there’s no point asking, ‘Why me?’
“I’m not feeling sorry for myself, I’m just taking each day as it comes and trying to make small improvements all the time.
“If I can lift my arm that little bit further than before, that’s an improvement and I can take heart from that.
“My speech has come on a lot and I can communicate on the phone now.”