The Falcon 9 rocket carrying Starlink satellites into low-Earth orbit lifted off around 7:50 p.m., creating a dazzling display that was seen over a large area.
Eyewitness News viewers across Southern California spotted the rocket as it left behind a bright plume in the skies.
SpaceX's previous launch date was set for Sunday, but it was pushed back due to weather conditions.
SpaceX said residents in San Luis Obispo, Santa Barbara and Ventura counties may have heard one or more sonic booms during the launch.