the lower segments of the rocket - returned to Earth to attempt controlled landings.
Two came back to touchdown zones on the Florida coast just south of Kennedy. Their landing legs made contact with the ground virtually at the same time.
"That was epic," said Mr Musk. "That's probably the most exciting thing I've ever seen, literally."
The third booster was due to settle on a drone ship stationed several hundred kilometres out at sea. Unfortunately, it had insufficient propellant left to slow the descent, missed the target vessel and was destroyed as it hit the water at some 500km/h.