The 20-storey rocket launched from Florida's Vandenberg Air Force Base at 9:54 am local time (5.54pm GMT).
It is the first launch since a SpaceX rocket erupted into flame during an attempted launch in September last year.
Investigators determined a can of helium exploded during the ill-fated launch, which destroyed a rocket and satellite worth arounf £200million.
SpaceX has launched its first rocket since an explosive failed attempt last September
Today's operation will deliver 10 satellites into orbit for Iridium Communications Inc.
It is also the first flight in a backlog of dozens of missions since last autumn's explosion.
The rocket launched successfully from Florida this evening
About 10 minutes after the launch, the first stage of the rocket successfully touched down on a platform in the Pacific Ocean, a feat previously accomplished by four other returning Falcon rockets. SpaceX intends to reuse its rockets to cut costs.