At that height the crew experienced weightlessness for a few minutes and could observe Earth's curvature through big windows in New Shepard.
The capsule then fell back to Earth, with three giant parachutes and retro engines helping it make a gentle landing that kicked up a big cloud of dust.
This flight had been scheduled for May 20 but was delayed because of a problem with one of the spacecraft's back-up systems. Blue Origin did not give details of the problem.
Blue Origin is a leading player in the nascent space tourism market.