The spacecraft splashed down safely in the Pacific Ocean about 563 miles west of Baja California, Mexico, at 8:42 a.m. PDT Thursday, the company said in a release.
"Splashdown! Welcome home #Dragon!" the company tweeted.
The unmanned Dragon spacecraft became the first commercial vehicle in history to successfully attach to the ISS, delivering cargo and supplies.
Launched March 22 atop a SpaceX Falcon 9 rocket, the Dragon's mission was the first commercial undertaking of a mission type previously only undertaken by four governments: the United States, Russia, Japan and the European Space Agency.
The SpaceX flight was conducted under a 2006 Commercial Orbital Transportation Services agreement with NASA to develop the capability to carry cargo to and from the International Space Station after the retirement of NASA's space shuttle fleet.