Thanks to the progress of neutrino physics, today we are able of exploiting neutrinos as a tool to study astrophysical objects. Measurement of geoneutrinos, electron flavour (anti)neutrinos produced in radioactive decays inside the Earth, represents a unique tool to access information about the deep Earth. Borexino, a 280 ton liquid scintillator detector located at the Laboratori Nazionali del Gran Sasso (LNGS), Italy, was one of the two detectors that has measured geoneutrinos so far. Unprecedented radio-purity of the scintillator, shielding with highly purified water, and placement of the detector at a 3800 m w.e. depth have resulted in very low background levels and has made Borexino an excellent apparatus for geoneutrino measurements. The comprehensive Borexino geoneutrino measurement used the data obtained from December 2007 to April 2019 with the overall exposure of (1.12±0.05)×1032 protons × yr. The resulting geoneutrino signal of 47.0+8.4-7.7(stat)+2.4-1.9(sys) TNU has +18.3-17.2% total precision. Several geological interpretations based on this measurement have been made. In particular, the 99% C.L. observation of the mantle signal by exploiting the relatively well-known lithospheric contribution, estimation of the radiogenic heat, as well as comparison of these results to the predictions based on different geological models. Upper limits on the power of a hypothetical georeactor that might be present at different locations inside the Earth have been set.