Baumgartner fell nine minutes before reaching the ground, with four minutes and 20 seconds of that spent in free fall.
The Stratos skydive, which was captured on video by a helmet cam, was sponsored by Red Bull and posted online Monday.
Earlier this year, Baumgartner told Business Insider that fear can be your friend as long as you're able to control it.
"As soon as fear turns into panic, you lose it," he said.
Swim Week Miami Beach 2014 [PHOTOS]