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 was unable to slow its descent by re-igniting sufficient engines, missed the target vessel and was destroyed as it hit the water at some 500km/h.
Elon Musk's Falcon rocket soars to space