Deutsche Post dubbed its yellow drone the Paketkopter and said it carried medicine from a pharmacist in Bonn across the Rhine to its own head office.
“We are at the beginning of the research project,” said DHL manager Ole Nordhoff. “It is an exciting bit of technology.”
This being Germany, there are also regulations to consider - Monday's test flight required a special permit, while the legalities of using drones remain unclear.
The drone flew at a height of 50 metres for one kilometre and took two minutes to complete the journey.
It was flown by two men using a remote control but the technology also exists to direct the drones to their destination with GPS.
Online retailer Amazon announced last week it was working on a project to deliver packages with drones and hoped to have a service up and running within five years.
Deutsche Post then announced on Thursday it had a similar project, but Monday’s test was the first successful flight of a drone carrying a package.
Its project is focusing on delivering medicines.