He reached the stage in a "cybercab" which he said will go into production in 2026 and cost less than US$30,000 (S$39,200).
He said operation will cost 20 US cents a mile over time and charging will be inductive, requiring no plugs.
The cars rely on artificial intelligence and cameras, he said, and do not need other hardware such as what robotaxi rivals use - an approach investors and analysts have flagged as challenging from a technical and regulatory standpoint.
"The autonomous future is here," Mr Musk said. "We have 50 fully autonomous cars here tonight. You'll see Model Ys and the cybercab. All driverless."
He also showcased a larger, self-driving vehicle - called robovan - capable of carrying up to 20 people, and featured Tesla's Optimus humanoid robot.
His plan is to operate a fleet of self-driving Tesla taxis that passengers can hail through an app.
Individual Tesla owners will be able to make money on the app by listing their vehicles as robotaxis.
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