Women were also standing as candidates, another first, despite the conservative kingdom being the only nation where women are not allowed to drive.
A total of 978 women have registered as candidates, alongside 5,938 men.
Female candidates have had to speak behind a partition while campaigning or be represented by a man. Turnout was high, state media reported.
About 130,000 women registered to vote, officials said. That figure still falls well short of male voter registration, which stands at 1.35 million.
Salma al-Rashed was the first woman to register to vote. "It felt really good," she told the BBC. "Change is a big word but the election is the way to make sure we are really represented."