The new phones will be available for pre-order from 12 September in the UK, France, and Germany, with prices starting at £539 in the UK and €739 in the eurozone.
The 16GB iPhone 6s will cost £539 in the UK. From there, pricing for the handset jumps significantly with the next storage tier: the 64GB device costs £619, while the 128GB model will cost £699.
The larger display iPhone 6s Plus starts at £619 for the 16GB model, while the 64GB and 128GB cost £699 and £789 respectively.
In the UK, the iPhone 6s and 6s Plus have the same pricing as last year's iPhone 6 and 6 Plus did at launch, although both older models have now seen their prices cut by around £80.
In the UK, carriers Three, Vodafone, and Virgin have all announced Apple's new handsets will be available soon on their networks.
Pre-sales will also open on September 12 for some European markets, and the devices will also go on sale in stores on September 25.
In Germany, the iPhone 6s starts at €739 for the 16GB model and from there, its price rises to €849 for the 64GB model and €959 for the 128GB model.
The 16GB iPhone 6S Plus costs €849 and rises to €959 for the 64GB model, and a hefty €1,069 for the 128GB.
In France, the iPhone 6s and iPhone 6s Plus are €10 more than Germany for every storage tier.
The two devices are also listed as coming soon for Spain, Italy, Netherlands, Sweden, and other markets, but pricing and availability haven't yet been released.
Along with the introduction of its next generation of iPhones, Apple has also cut the prices and reduced the choice of colours and storage tiers for last year's handsets. While the new iPhones are available in gold, silver, rose gold, and grey, last year's models are now only available in silver and grey and are also no longer available with 128GB storage.
In the UK, the iPhone 6 with 16GB storage now costs £459 and the 64GB model costs £539. The iPhone 6 Plus meanwhile is priced at £539 and £619 for the 16GB and 64GB models, respectively.
In Germany, the 16GB iPhone 6 now costs €629 while the 64GB edition has a new price tag of €739. In France, both options are €10 more than in Germany.
Apple also announced a new 12.9-inch iPad Pro at its event yesterday in San Francisco with US pricing starting at $799 for the 32GB model, $949 for the 128GB model, and $1,079 for the 128GB LTE model. The device is expected to go on sale in the UK in November. Pricing for Europe has yet to be announced.
So what do Apple's premium prices offer consumers? Apple hasn't changed the design of the new iPhones but it has added a number of new features inside that do differentiate the generations. The headline update is the iPhone's new 3D Touch interface, which brings a little of the Apple Watch's Force Touch to the iPhone and helps users surface content in apps.
And while 12-megapixel cameras are fairly common even in mid-range Android smartphones, their arrival on the new Apple devices represents a big step up on the eight-megapixel cameras in the iPhone 6 and 6 Plus. The rose gold option is also new, as is the 64-bit A9 chip.
Read more on the iPhone 6s and 6s Plus