The 124-meter-tall rocket lifted off from the company's base in Texas. Ahead of the launch, six of the 33 engines were replaced after an aborted launch attempt last week. A test launch in May also had problems.
The launch was the 13th for the world's largest rocket and the second this year of the new V3 version. The launch had previously been postponed after the July 16 test and due to Tropical Storm Bertha.
NASA monitored the launch ahead of upcoming lunar missions.
