Falcon Heavy vaulted a pricey communications satellite into orbit for Saudi Arabia-based Arabsat.
The historic launch was watched by millions around the globe thanks to Mr Musk's body decision to mount a cherry-red Tesla sports vehicle as the rocket's payload.
On Thursday, before it took off, the Falcon Heavy rocket stood on a Florida launch pad and packed the energy equivalent of a tactical nuclear weapon.
The rocket carried the ArabSat 6A communications satellite for a Saudi Arabian company.
"Three for three boosters today", a SpaceX webcast commentator said. As SpaceX explains on its website, this vehicle is the most powerful (operational) rocket now in existence. SpaceX boss Elon Musk tweeted "The Falcons have landed".
It was a crucial milestone in the U.S. National Aeronautics and Space Administration's Commercial Crew Program ahead of SpaceX's first crewed test flight slated to launch in July with U.S. astronauts Doug Hurley and Bob Behnken.
SpaceX plans to launch its next Falcon Heavy later this year on a mission for the US Air Force.
After a day's delay due to strong winds at the Kennedy Space Center in Florida, Falcon Heavy lifted off at 6:35 p.m. EDT under clear skies and tolerable winds.
Falcon Heavy has already been chosen for a few contracts, including a $130 million contract to launch an Air Force satellite that was awarded just four months after its inaugural flight in February 2018. This telecommunications satellite will service areas of Africa, the Middle East, and Europe.
It consists of the equivalent of three Falcon 9 rockets combined, tripling its thrust.
The Roadster is thought to be on the other side of the sun from us right now, about three-quarters of the way around its first solar orbit, said senior analyst at NASA's Jet Propulsion Laboratory in Pasadena, California, Jon Giorgini.
Regardless, prior to December 2018, B1032 was the first failed SpaceX landing after dozens of successful attempts.
The middle booster, after pushing the payload into space, returned almost 10 minutes later for a successful landing on SpaceX's seafaring drone ship waiting 645 kilometres off the Florida coast.
The satellite was safely deployed in orbit just more than half-hour after launch, giving SpaceX a flawless launch. That launch was the biggest rocket since the Saturn era ended in the 1970s.