Waymo said its autonomous ride hailing service was now available to “everyone” in San Francisco.
The firm claimed 300,000 people had signed up to ride since it first opened a waiting list.
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It came four years after a similar move in Phoenix, Arizona, where it opened access to everyone without a waiting list in 2020.
Alphabet owned Waymo started its first US driverless taxi service in 2020 after it began in 2009 as a project inside Google.
Last month, the National Highway Traffic Safety Administration (NHSTA) said it had learned of nine additional incidents involving Waymo and its self driving vehicles.
That followed a preliminary investigation that looked at 444 Waymo vehicles, after 22 incidents were reported.
Scrutiny into self-driving vehicles had been heightened after a GM Cruise robotaxi was involved in an incident with a pedestrian in October last year.
The firm took all 950 vehicles off the road for software updates.
