They took a brief driving exam and eye test before being issued with the licences at the traffic department in the capital, Riyadh.
The move is part of Crown Prince Mohammed bin Salman's far-reaching liberalisation drive as he seeks to modernise the conservative petro-state.
People voiced their joy on social media as many posted photos of the newly-issued women's driving licenses.
Earlier this month, Saudi authorities announced the date women would be able to drive in the kingdom - valid licence permitting.
Other women across the country have been preparing for the right to drive on June 24 by taking driving courses in female-only college campuses.
The move comes a few days after, Amnesty International called on the "international community and allies of Saudi Arabia" to exert pressure on Riyadh to immediately and unconditionally release women's rights defenders now detained in the Arab kingdom. They not only risked arrest by pushing for the right to drive for years, but also called for an end to guardianship laws that give male relatives final say over a woman marrying or travelling overseas.
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This development follows reports indicating Saudi Arabia arrested 17 activists for allegedly protesting the Kingdom's restrictive driving laws.
Driving schools are also being set up across the kingdom with some female instructors who learned to drive in other countries.
According to Arab News, the woman, who already had an worldwide driving license, was able to obtain a Saudi license after officials confirmed the validity of the global license and required her to take a driving test.
Rights groups have identified numerous detainees as women campaigners for the right to drive and to end the conservative country's male guardianship system.
Nine suspects, including four women, remain in custody after they "confessed" to a slew of charges such as suspicious contact with "hostile" organisations and recruiting people in sensitive government positions, according to SPA.
Public prosecutors described their efforts as a "coordinated activity undermining the security and stability of the kingdom".