Harry Read, 94, took to the skies from Old Sarum airfield in Salisbury, Wiltshire, and jumped 10,000ft.
Mr Read was a 20-year-old wireless operator in the Second World War and part of the Parachute Brigade landing in Normandy on 6 June 1944.
During the conflict, parachuting would take place as close to the ground as possible to avoid being attacked.
Mr Read said: “On that morning at 00.50 hours I parachuted into Normandy and 30 seconds later I was on the ground.
“It was a very different experience to the one I just had.
“This was my first high-level skydive and whilst I was a little nervous I have always enjoyed the thrill of parachuting.
“It was amazing to experience the freefall and then cruising down was simply beautiful.
“I feel so lucky to have been able to experience this at my age.
“Before I could take part in the jump my doctor assured me my heart is as healthy as a middle aged man.”
He decided to complete a jump himself after he visited the battlefields of Normandy on an anniversary tour earlier this year.
His granddaughters Lianne, 37, Joanna, 39, and his great-grandson Josh, 23, also jumped.
Mr Read did the jump to raise money for the Salvation Army, of which he is a life-long member, to help fund the charity’s anti-trafficking and modern slavery work in the UK.
After raising more than £4,000 so far, he is planning to jump again next year in Normandy, to mark the 75th anniversary of D-Day.
He said: “At whatever age we are, we are more than capable of shrinking from something that we feel is beyond us.
“But, I believe we should not withdraw from a challenge – yesterday is not our best, our best is tomorrow.”
Mr Read was awarded France’s highest honour, the Chevalier, by order of the Legion d’Honneur for the role he played in June 1944.