The Blues moved from the Arms Park to the Cardiff City Stadium in the summer of 2009 but in February this year they contested two league fixtures against Connacht and Ulster at their old home.
They won both games with an average gate of 8,300 and last week Blues CEO Richard Holland announced they would be relocating back to their original ground, citing the wishes of supporters as a primary factor behind the decision.
And Halfpenny, 22, insists the players are fully behind the move too as they seek to improve on this year's seventh place in the RaboDirect PRO12.
"I think it's the right option for us as players, we love playing at the Arms Park and feel more at home here," said Halfpenny.
"At the Arms Park the supporters are so close to the pitch that you can feel the atmosphere and there is no better feeling than running out to a packed ground.
"I feel that being at the Arms Park gives us a true home advantage as it's so intimidating for the opposition.
"They have a smaller changing room and things like that as well.
"I know that when we have been to away matches and when we have had small changing rooms, we knew we were off to a bad start.
"Then they have to run out on to the pitch and feel the atmosphere, it's very intimidating, but great for us as the home team.
"I think that feeling of home advantage was something we lacked at the City Stadium."
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