"I feel incredible," Wallenda said at a news conference afterward last night.
He said strong winds and the steeper-than-expected angle of the first high wire caused him to hurry his performance. Wallenda had practiced at a 15-degree angle but said the wire was actually at 19 degrees.
"That cable looked like it was going straight up," he said.
Thousands of cheering fans packed the streets around the city's Marina City towers to watch the 35-year-old heir to the Flying Wallendas' family business.
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"I love Chicago, and Chicago definitely loves me," said Wallenda as he walked that wire, with the crowd below him screaming in support. "What an amazing roar!"
The next stage of Wallenda's high-wire event he undertook blindfolded a 94-foot (28-metre) walk between the two Marina City towers. He made the stretch in little more than a minute.
The Discovery Channel used a 10-second delay for the broadcast, which would have allowed producers to cut away if anything went wrong.
Two of his previous televised tightrope walks over the brink of Niagara Falls in 2012 and across the Little Colorado River Gorge in 2013 drew about 13 million viewers each.
Residents of Marina City were asked not to use laser pointers, camera flashes or drones that could interfere.
"It was amazing. I saw it with my own eyes," one spectator, Cynthia Garner, said afterward. "I was afraid when he first started, but once I saw that he didn't hesitate and just walked, I wasn't scared for him no more."