The Google Maps service has returned to Apple’s App Store after the iPhone maker removed it as a pre-installed service and replaced it with its own, flawed, Apple Maps product when iOS6 was introduced.

Apple Maps was heavily criticised for lacking certain features and providing poor accuracy and detail when it was launched. The criticism was so severe that it led to the departure of the head of Apple’s iOS division, Scott Forstall.

Nokia attempted to capitalise on the problems with Apple Maps by introducing its HERE mapping service on the App Store.

Director of Google Maps for Mobile, Daniel Graf, said in a blog post that the company makes tens of thousands of daily updates to Google Maps. Google has also introduced a Google Maps SDK for iOS to help developers incorporate Google Maps into their apps.

Apple also removed Google’s YouTube app as a pre-installed app with the introduction of iOS6, with Google introducing a new version to Apple’s App Store in September.