The campaign's message is that driving should be a woman's choice. The struggle is rooted in the kingdom's hard-line interpretation of Islam known as Wahabbism, with critics warning that women driving could unravel the very fabric of Saudi society.
Though no laws ban women from driving in Saudi Arabia, authorities do not issue them licenses. Women who drove on Saturday had driver's licenses from abroad, activists said.
May Al Sawyan, a 32-year-old mother of two and an economic researcher, told The Associated Press that she drove from her home in Riyadh to the grocery store and back.
Activists uploaded a four-minute video of her driving to the campaign's YouTube account.
More From This Section
Al Sawyan said she was prepared to be jailed if caught by authorities. She said she was far enough from a police car that she was not spotted. "I just took a small loop," she said. "I didn't drive for a long way, but it was fine."
"I am very happy and proud that there was no reaction against me," Al Sawyan said.
It is not clear if police turned a blind eye to women driving or simply did not see the scattered, quick spins around towns. An AP journalist in Riyadh said there were no roadblocks or checkpoints set up to watch for female drivers.
Ahead of the protest, authorities offered mixed messages, perhaps cautious not to push too hard against the kingdom's religious establishment. Hard-line clerics say women driving will lead to "licentiousness." A prominent cleric also caused a stir when he said that medical studies show driving a car harms a woman's ovaries.
The ministry that oversees the police warned that violators who "disturb public peace" would be dealt with forcefully.