Capaldi's Glastonbury performance marked his comeback two years after struggling to finish a set due to his Tourette’s syndrome.
During his 30-minute set, Capaldi expressed his joy at being back and played hits like "Someone You Loved" and his new song "Survive".
The forthcoming tour, which Capaldi stated will be his only shows in the UK, Ireland, or Europe this year, begins on 7 September in Sheffield.
Capaldi has been open about his health struggles, including with Tourette's and anxiety, and has been working with professionals to manage them, noting a marked improvement.