The spacecraft was successfully docked by European astronaut Tim Peake using the orbiting lab's robotic arm, with help from US astronaut Jeff Williams.
SpaceX's unmanned Dragon cargo ship left the International Space Station Wednesday, carrying 3,700 pounds (1,678 kilograms) of gear and science experiments, and splashed down in the Pacific Ocean.
"Good splashdown of Dragon confirmed," SpaceX wrote on Twitter, almost five hours after the spaceship was released from the orbiting research lab.
The capsule launched on April 8 from Cape Canaveral, Florida. SpaceX's next supply ship is scheduled to depart Earth in June.
"This cargo includes samples from human research, biology and biotechnology studies, physical science investigations and education activities," NASA said in a statement.
The spacecraft also contains the final batch of human research samples from the one-year mission completed in March by US astronaut Scott Kelly and Russian cosmonaut Mikhail Kornienko.
SpaceX's Dragon is the only cargo ship capable of returning to Earth intact. The world's other cargo vehicles burn up on re-entry to Earth's atmosphere.
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