The rover Curiosity got a look at home with the Mast Cam. The left camera was used for the image which was taken about 80 minutes after the Martian sunset. The Earth is the bright spot just left of center The moon is faintly visible too. Clicking the image will show an annotated versions.
You can click the JPL link below and select a larger version. They are large enough for you to see the moon just below the Earth. Makes a nice desktop too.
This view of the twilight sky and Martian horizon taken by NASA’s Curiosity Mars rover includes Earth as the brightest point of light in the night sky. Earth is a little left of center in the image, and our moon is just below Earth.
› See annotated versions