Will I have to return my equipment when I cancel DirecTV?

All you have to return is the box itself, power cord, and remote. You don’t need to return HDMI cables, power inserters, coaxial cables, splitters, multi switches, or any outside stuff (dish, LNB, etc).

Just to confirm that your equipment is returnable (DIRECTV wants it back), what are the receiver models of the boxes you have? Depending on the model, DIRECTV may or may not want them back.

In any case, you would need to return the box, remote, and power cord to an authorized FedEx or UPS Store for the free return. Be sure to keep the shipping receipt (get it from the clerk) as it is your PROOF of return. This will be handy if directv is not aware of your return. They may accidentally try to charge you a NRF.

I have two of this model: 

Will I have to return them?

Maybe, but likely not. H25s these days are usually more preferred than H24s so DIRECTV may not want those boxes back. Just be on the lookout for an email from DIRECTV when you cancel summarizing the equipment you need to return. 
To cancel, call DIRECTV (number in my greeting below) and say ‘cancel’ to the robot to be sent to the loyalty/retention department.

Thank you for your help.  Prices are going to high and I am on a fixed income.  I like to eat, and costs are just too high for me to handle.  Pluto TV has many of the reruns that I watch, (no new stuff is worth watching these days) and I am tired of paying for reruns.  The package I have is the low cost one and the few channels I watch, it just isn't worth it anymore.  I've been a customer for over 30 years. 

Gotcha. Of course, if the content you want is free on Pluto TV, saving costs this way proves to be effective. I’m glad you are finally cancelling, some seem to hold onto their subscriptions as long as possible for unknown reasons (some of which are linked to finishing up DVR recordings or even the idea of not wanting to migrate to a streaming environment). 

Only receiver/client boxes are returned.

Your Hughes box was ancient, superceeded a couple times. First they went to DirecTV branded boxes, then HD, and then into the Genie world.

The HR24 is the last regular HDDVR and is on the previous generation software. Supposedly not returnable, but it is still a good model. I would take them to a participating FedEx/The UPS Store and see if they would accept for the free return.

Receiving dish and anything else are owned accessories. They are yours upon install. DirecTV will not remove anything. If you choose to later to remove the dish yourself, it is suggested to leave the mounting plate to avoid leaks.

No matter where you go, you will need to work with newer equipment and how the current generation of customers expect software to be. Of course, not all interfaces are equal. It has been over a decade since the last SD-only TV was made and DirecTV stopped offering SD-only service shortly after that. 

@Juniper 

OP has H24, not HR24.  If it were an HR24, I’d think DIRECTV would want it back.

My mistake. My mind auto added the R.