The state Department of Motor Vehicles expects 1.4 million people will seek a license in the first three years of a program aimed at boosting road safety and making immigrants' lives easier.
California officials say they can not predict how many people will line up immediately to apply, but the number of people making appointments for a license more than doubled when immigrants were allowed to sign up. Appointments are required to apply for a license except at four newly-created DMV offices.
Immigrants in the country illegally have not been allowed to apply for a driver's license in California since the state began requiring proof of legal presence during the 1990s.
Immigrant advocates have cheered the licenses as a way to integrate immigrants who must drive to work and shuttle children to school. But critics have questioned state officials' ability to verify the identity of foreign applicants, citing security concerns.
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State insurance officials hope the change will increase the number of drivers holding auto insurance, though some immigrants say they have always held insurance even though they could not get a license.
Maritza Aguirre, 30, is one of them. She used to take a two-hour bus trip to work cleaning houses in driving-dependent Southern California. Now, she drives but lacks a license and fears her car might be impounded if she is ever stopped by police.
Advocates have encouraged immigrants to seek the license. But they are warning those with deportation orders or criminal records to first seek legal advice since law enforcement can access DMV data.