Speaking after the probe's descent, mission chief engineer Marc Rayman said it went "exactly the way we expected. Dawn gently, elegantly slid into Ceres' gravitational embrace."
Limited pictures received to date showed "signs of possible ice or salt".
Rayman was confident even more incredible discoveries would follow.
"The real drama is exploring this alien, exotic world."
Dawn is on a staggering eight-year, 4.8 billion km voyage. It will spend more than a year at Ceres.
David Britten - astronomy educator from Auckland's Stardome Observatory - said it was an exciting time for stargazers.
"It's the first of the dwarf planets to be visited by a spacecraft, so that is a milestone," he said.
"Dwarf planets are part of the primordial material that the solar system was built from so if we can study these up close it will give us some clues about the formation of the solar system."