"It's time that Pistol and Boo buggered off back to the United States," he barked in May as he gave them a 50-hour deadline to leave.
The minister said he didn't care if Depp had been voted the "sexiest man alive", he still had to adhere to quarantine rules.
Mr Joyce was subsequently criticised for his handling of the case and labelled a "wanker" by radio shock jock Kyle Sandilands.
Joyce says he is pleased the law has caught up with Heard.
"I'm always pleased with the legal process - we are all equal before the law," Mr Joyce told Sky News.
He said it was important to uphold the integrity of Australia's biosecurity system.
The dogs could have brought in rabies and infected the bat population, he said.
Pistol and Boo, oblivious to the canine conundrum they had created, were kept in a Gold Coast mansion belonging to motorcycle racing legend Mick Doohan.
An investigation was launched into whether Depp or his pilot should be prosecuted for failing to declare the dogs.
In May, a Senate committee was told if the matter proceeds to a court and Depp is found guilty, the actor could face jail time or a maximum fine of A$340,000.
- AAP