The Falcon 9 rocket lifted off from Vandenberg Air Force Base, about 240 kilometres northwest of Los Angeles, shortly after 9 am under clear skies, eventually reaching its intended orbit.
SpaceX launched an older model of Falcon 9 five times from Florida. This was the first time the Southern California-based private rocket maker flew the next-generation version that boasts upgraded engines designed to improve performance and deliver heavier payloads.
The rocket carried a satellite dubbed Cassiope, a project of the Canadian Space Agency and other partners.
SpaceX considered today's launch a demonstration flight to test the capabilities of the improved rocket. It was the third launch from the Vandenberg base this week. Earlier, the Air Force launched back-to-back unarmed Minuteman 3 intercontinental ballistic missiles that travelled 6,760 kilometres over the Pacific Ocean.
With NASA's space shuttle fleet retired, SpaceX is also working to modify its capsules to transport astronauts in several years. Until then, NASA astronauts are hitching rides on Russian rockets to zip to and from the space station.
A SpaceX competitor, Virginia-based Orbital Sciences Corp., launched its first-ever cargo ship bound for the space station earlier this month. The arrival of Orbital's Cygnus capsule, bearing chocolate and clothing, had been delayed because of a software problem, but it docked with the space station today.