We report on InGaAsP/InP optical waveguide tapers for efficient coupling to flat-end single-mode fibers. These integrated tapers are realized by an optoelectronic integrated circuit compatible diffusion limited etch process for the vertically tapered core layer and a selective area regrowth for the upper cladding. The smoothly etched vertical tapers and the excellent quality of the regrown layers show low scattering and radiation losses. Polarization insensitive fiber to waveguide coupling losses are below 1 dB and relaxed alignment tolerances are +/- 2.5 mum in the horizontal and vertical, and 28 mum in longitudinal directions for 1 dB in addition.