According to the band's announcement, the concert at Ciudad Deportiva de la Habana was "the first open-air concert in the country by a British rock band."
Frontman Mick Jagger and company mostly avoided any political statement during the show, except for acknowledging the band's presence in the country was a sign "times are changing."
Some estimates say nearly half a million people attended the celebratory performance.
The event capped off a week where a sitting U.S. president visited the country in nearly 90 years.
One concertgoer told The Guardian there is a feeling among Cubans that "something good" is happening.
But not everyone saw the concert as a sign of good things to come. One democracy activist said the government was using it as a symbol of an "opening that isn't really taking place."
And at least one world leader did take issue with the event — the pope, though it wasn't because of politics. The BBC reports he asked the Stones to postpone the concert because it conflicted with Good Friday.
The concert was a part of the Rolling Stones' America Latina Ole tour that is traveling through Central and South America.
They have also started a push to donate musical instruments and equipment to benefit Cuban musicians across all music genres.