Just over 2,500 fans were allowed into the Amex Stadium to watch the 1-1 draw, with strict social distancing measures in place around the ground.
The pre-season game was part of a number of pilot events announced by the Department for Digital, Culture, Media and Sport for a phased return of spectators, with cricket and snooker among the other sports that have welcomed fans back at significantly reduced capacities.
There were plenty of hand sanitisation points on the approaches to the ground, while face coverings were also required for fans - many sporting the Seagulls' blue and white colours - while they were queueing to get in, although not while seated.
A digital match ticket was scanned for entry into the stadium, with cashless transactions at kiosks and there was signage reminding fans of the need to regularly wash hands.
Brighton boss Graham Potter hopes more fans will get the chance to see the team in action again soon.
"I thought it was a fantastic day - a small step to getting back to normal as soon as we can safely do so," Potter told the club's official website.
"It was so nice to see fans here because as we know it brings a completely different dynamic to the stadium and I thought they made a lot of noise and really got involved in the game. Hopefully they enjoyed the performance as well.
"I think people at the club deserve a lot of credit for the work that has gone in and hopefully it was the first successful step to a return to normal at some stage in the future."
Additional reporting by PA.
In Pictures | Brighton vs Chelsea | 29/08/2020
