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The Hawthorne Tunnel is the Boring Company's first major project.
The tunnel is 12 feet in diameter, and the finished tunnel segment is just over a mile long.
It was excavated along a path that runs not through Los Angeles but beneath the tiny adjacent municipality of Hawthorne, where Musk's Boring Company and his SpaceX rocket firm are both headquartered.
Although lots of people came to witness the tunnel opening, there wasn't space for everyone.
Musk's presentation was broadcast live at 8:15 p.m. local time so people who couldn't make the exclusive launch party could tune in.
Musk gave a 30-minute presentation.
After emerging from the tunnel in a modified Tesla Model X, Musk said he hoped in the future that tunnels dug by the Boring Company could be the answer to "soul destroying" traffic.
Guests didn't get a ride in the tunnel.
In the past Musk said "free rides" would be available, but no guests were allowed to travel inside the tunnel at the unveiling on Tuesday
Musk said that while the tunnel is capable of whisking cars along at 110 mph, people will be going through at a more comfortable 40 to 50 mph.
The tunnelling process is much slower, however.
"Aspirationally, we should be slightly faster than a snail," Musk said.
He explained that most tunnelling equipment moves 14 times slower than a snail, and hopes to match to snail-speed with The Boring Company.
Musk tweeted a picture of a modified Tesla Model X nestled inside the tunnel, locked in by retractable wheel gears, which effectively turn it into a "rail-guided train."
Musk said that in future the tunnel loop might carry passenger cars on "skates" that whizz them through the tunnels, or that cars might eventually be fitted retractable side wheel, so they could travel through the tunnel autonomously.
