"I just hung on because it was just straight up and down, the wind right in my face. It was a little spooky," Knievel said. "But thanks God. Again!"
The 46-year-old Knievel, who has made more than 250 jumps since he was 9 years old, had said this would probably be his last jump in Texas.
"I love you Texas, bye-bye," Knievel said after the jump.
It was the second jump in the last two weeks for the son of the late Evel Knievel.
At Kings Island in Ohio on May 24, Knievel jumped over 24 delivery trucks lined side-by-side. His father jumped 14 buses there in 1975, a stunt broadcast by ABC-TV's Wide World of Sports that set a record for total viewers.
Robbie Knievel's latest jump came before the IndyCar Series race, his second successful jump at Texas Motor Speedway. He jumped the starting grid of 20 Indy Cars before a 2001 race.
Before getting on his motorcycle, Knievel told the crowd that his father, who died in November, was a "great man, a great legend."
Texas Motor Speedway president Eddie Gossage said the jump was shortened "in the best interest of safety."