Gayle King, Katy Perry and Lauren Sánchez Go to Space, on Camera

Blue Origin sent a group of women to the final frontier ... and TMZ streamed it live as Gayle King, Katy Perry and Lauren Sánchez blasted off into space and returned to Earth Monday morning.

The girl gang includes NASA rocket scientist Aisha Bowe, civil rights activist Amanda Nguyen, and film producer Kerianne Flynn.

At 9:30 AM ET sharp, the ramp and scaffolding detached from Jeff Bezos' rocket the New Shepard Van Horn, in West Texas. A minute later, the rocket launched successfully. At 9:38 AM, after reaching its apogee, the rocket began its descent back down. By 9:39 AM, the rocket executed a "picture perfect landing" back on Earth, directly on the spot from where it launched. Then the capsule, still airborne, deployed its parachutes as it floated down. At 9:41 AM, the capsule landed in the dirt.

Bezos himself was there on the ground to help open the capsule door and greet the returning new space travelers -- embracing Sanchez as she emerged first. Katy came out next and literally kissed the ground

In the observation area prior to the launch, some celebrities were seen attending, including Kris Jenner, Khloé Kardashian, and Oprah Winfrey ... and of course Katy's boo, Orlando Bloom.

Back on the ground, Sanchez was emotional describing the trip, enthusiastically describing her "complete and utter joy and gratefulness," saying she wanted to hug everyone. She emoted ... "I had to come back, I mean, we're getting married!"

Gayle said the flight instructor told her "I'm her best success story," because she overcame a severe fear of flying to take part in Monday's mission. She said she feels like she can take on anything after stepping out of her comfort zone more than she ever thought possible.

Monday's mission, dubbed NS-31, is the 11th human flight for Blue Origin ... and the 31st overall for the Amazon founder's space tourism venture.

Jeff has already been to space ... and today it was his fiancée's turn.

The spaceflight was fairly short ... the women traveled 62 miles above Earth to the Kármán line, the boundary that separates our atmosphere from space ... and after a few minutes of weightlessness in orbit, the capsule carried the women back to Earth.