Karen Woo was among 10 people shot dead in the remote northeastern Badaskhshan province on Friday.
Her body and those of seven others have arrived in Kabul for formal identification as police hunt for their killers.
The 36-year-old British medic, who was due to marry this month, was murdered along with six Americans and a German as they were returning from a medical camp.
On Saturday the Taliban claimed responsibility, saying the group and their Afghan interpreters were "spying for America and preaching Christianity".
In a statement, Woo's family said her motivation was purely humanitarian.
"She was a Humanist and had no religious or political agenda," the statement read.
"She wanted the world to know there was more than a war going on in Afghanistan, that people were not getting their basic needs met.
"She undertook this trek as a medical doctor, accompanying medical supplies and to provide treatment to people who lived in an extremely remote region who had little to no health care available.
The Foreign Office confirmed the British doctor killed in Afghanistan was Dr. Woo, adding in a statement: "This is a deplorable and cowardly act which is against the interests of the people of Afghanistan who depended on the services she was bravely helping to provide."
Another militant group -- Hizb-e-Islami -- also has claimed its members carried out the attack on the convoy, which had been visiting the neighboring Nuristan province.
Despite the two claims, Afghan authorities have said they believe robbery was a motive in the ambush.
Two Afghans also were killed in the attack, while one driver -- identified as Saifullah -- survived.
He was taken in for questioning by police.
He told them the convoy was confronted by a group of armed men, who stole their money and belongings before lining up the victims and shooting them.
Saifullah said he was spared because he began to recite verses of the Koran, proving to the militants he was a Muslim.