In the trial, two passengers – both company staff – travelled the length of a 500m test track in 15 seconds, reaching 107mph (172km/h).
However, this is a fraction of Virgin’s ambitions for travel speeds of more than 1,000km/h.
Virgin Hyperloop is not the only firm developing the concept but nobody has carried passengers before.
Sara Luchian, director of customer experience, was one of the two on board and described the experience as “exhilarating both psychologically and physically” to the BBC shortly after the event.
She and chief technology officer Josh Giegel wore simple fleeces and jeans rather than flights suits for the event, which took place on Sunday afternoon outside of Las Vegas. Ms Luchian said the journey was smooth and “not at all like a rollercoaster” although the acceleration was “zippier” than it would be with a longer track. Neither of them felt sick, she added.