An estimated two million people lined the streets to watch.
The parade marched up Fifth Avenue, starting at 44th Street and ended at 79th Street.
Celebrities and politicians took part in the festive event that features colorful floats, costumes and music.
The theme of this year's parade was "Salud: Celebrating Your Health".
The parade evolved in the early 1950s as a pan-Latino affair but later became more focused on celebrating Puerto Rican heritage.
An uproar recently erupted among the Puerto Rican community over a logo of their island flag on a commemorative Coors Light beer can created for the parade.
Coors is a parade sponsor.
Organizers denied the image was meant to represent the Puerto Rican flag or the parade's logo.