Shenzhou-10 spacecraft was blasted off from the Jiuquan Satellite Launch Center in northwest China on a Long March rocket, state-run Xinhua news agency reported.
Shenzhou-10 is China's fifth manned space mission.
Wang Yaping, 35, the second Chinese woman to go into space after Liu Yang last year, was onboard while the mission is being commanded by Nie Haisheng. Zhang Xiaoguang is the other crew member.
Earlier, Chinese President Xi Jinping attended a see-off ceremony for the three astronauts.