The rapid expansion of renewable energy in buildings has been expedited by technological advancements and government policies. However, including highly permeable intermittent renewables and energy storage presents significant challenges for traditional home energy management systems (HEMSs). Deep reinforcement learning (DRL) is regarded as the most efficient approach for tackling these problems because of its robust nonlinear fitting capacity and capability to operate without a predefined model. This paper presents a DRL control method intended to lower energy expenses and elevate renewable energy usage by optimizing the actions of the battery and heat pump in HEMS. We propose four DRL algorithms and thoroughly assess their performance. In pursuit of this objective, we also devise a new reward function for multi-objective optimization and an interactive environment grounded in expert experience. The results demonstrate that the TD3 algorithm excels in cost savings and PV self-consumption. Compared to the baseline model, the TD3 model achieved a 13.79% reduction in operating costs and a 5.07% increase in PV self-consumption. Additionally, we explored the impact of the feed-in tariff (FiT) on TD3’s performance, revealing its resilience even when the FiT decreases. This comparison provides insights into algorithm selection for specific applications, promoting the development of DRL-driven energy management solutions.