The nighttime display followed performances by a parade of celebrities who descended on Washington to welcome the new Biden-Harris administration.
Trump, who departed the White House shortly after 14:00 CET with his wife, Melania, said it had been "a great honour, the honour of a lifetime" to serve as president.
The top ranks of American politics have historically been dominated by men, almost all of them white. That's now coming to an end.
The executive order will take 30 days to come into effect and was one of 17 signed by Biden on his first day in office.
Rival heavily armed groups were gathering near government buildings in Richmond, Virginia, ahead of planned protests against Wednesday's inauguration of President-elect Joe Biden in Washington. Lobby Day brings Second Amendment protesters to Richmond every year.
In normal times, people pack out the National Mall to watch the presidential inauguration. Amid the COVID pandemic, flags are taking centre stage.
The events of January 6 were not a one-off. They were the culmination of various pro-Trump factions coming together "under his banner" for a common cause, experts tell Euronews.