Dry land, as opposed to the sea: “After our stormy voyage across the Atlantic Ocean, we were relieved to set foot on terra firma.” From Latin, meaning “firm (or solid) ground.”
1605, "part of the Italian mainland ruled by Venice," from Mod.L. terra firma, lit. "firm land," from L. terra "earth, land" (see terrain) + firma "firm," fem. of firmus (see firm (adj.)). Meaning "the land" (as distinct from "the sea") is first attested 1693.