The former Britain’s Got Talent star, 55, was led away by officers after the disturbance in an airport lounge.
Boyle became an international star after impressing the talent show judges with her performance of I Dreamed A Dream.
She was at the airport waiting for a flight back to her home in Glasgow.
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A spokeswoman for Boyle said: “Susan is absolutely fine and is on her way home.”
A Metropolitan Police spokeswoman said: “Police were called at around 1:20pm on Monday April 25 to a lounge in Terminal 5, Heathrow to reports of a distressed woman.
“Officers attended and spoke with the woman.”