The crew of SpaceX's Polaris Dawn returned to Earth after five days in orbit, on a mission that included the first private spacewalk in history.
The Dragon capsule fell into the sea near the coast of Florida on the morning of September 15, the BBC reports.
"Welcome back to Earth," SpaceIx announced on the Ix network.
US space agency NASA said the mission represented a "major step forward" for the commercial space industry.
The day before landing, the crew used SpaceX's Starlink satellite network to establish a direct video link with Earth.
The mission was financed by billionaire Jared Isaacman. He was joined by Scott Patit, a retired US Air Force pilot, and SpaceX employees Sarah Gillis and Anna Menon.
Isaacman and Gillis are the first non-professional crew to perform a spacewalk, a highly risky maneuver that involves exiting a spacecraft.
Before that, only astronauts with government-funded space agencies could do this.
Speaking at mission control in Hawthorne, California, during the spacewalk, Isaacman said: "We all have a lot to do at home, but from here the world looks like a perfect place."
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