They failed to separate however and the booster rocket and Starship spacecraft exploded in the sky in a ball of fire four minutes into the flight.
"If we get far enough away from the launchpad before something goes wrong then I think I would consider that to be a success," Musk said prior to the flight. "Just don't blow up the launchpad."
SpaceX foresees eventually putting a Starship into orbit, and then refueling it with another Starship so it can continue on a journey to Mars or beyond.
The eventual objective is to establish bases on the Moon and Mars and put humans on the "path to being a multi-planet civilization," according to Musk.
"We are at this brief moment in civilization where it is possible to become a multi-planet species," he said. "That's our goal. I think we've got a chance."