People living with a disability have been praised for courageously telling their stories and going through painful testimony during the royal commission.
Those who could not give evidence due to the systems being put under scrutiny were also recognised.
"The release of the final report ... is the start of our journey to an inclusive future," the Australian Federation of Disability Organisations said.
"Grounded in ongoing legacies of colonisation, our communities have shared experiences of institutionalisation, incarceration, removal of children and of institutionalised ableism in policies, programs and services.
"For First Nations people with disability, this is further layered with ongoing systemic racism and colonial violence."
The historic report was a "crucial and comprehensive investigation" into the problems facing the community, the peak body for non-government disability providers said.
"The deeply distressing instances of abuse, violence, exploitation, and neglect brought to light during this investigation are entirely unacceptable," National Disability Services CEO Laurie Leigh said.
The findings, which outlined multiple examples of poor practice, were an opportunity to address shortfalls in the sector and to stop such problems from happening again, she said.
The report was also welcomed by the Australian Human Rights Commission, which called it a "vital forum for truth-telling".
"The release of the report is a truly historic and transformative moment for the disability community specifically as well as Australian society more broadly," President and Acting Disability Discrimination Commissioner Rosalind Croucher said.
After more than four years of public hearings, private sessions and written submissions, the disability royal commission's final report made 222 recommendations.
The proposals aim to address a range of areas including human rights law, disability advocacy, guardianship, schooling, employment, the justice system and housing.
Social Services Minister Amanda Rishworth pledged the government to work diligently through the report and to collaborate with states and territories to address its findings.
A taskforce has been set up to oversee the recommendations in the meantime.
"The message of this report is clear - we do need to do better," Ms Rishworth said.
"Over the past four years, the outpouring of experiences of violence, abuse, neglect and exploitation have shocked Australians."
