The Gateshead-based Royal Northern Sinfonia, conducted by Nicholas McGegan, opened with Telemann’s Water Music Overture followed by Delius’s Summer Night on the River as hundreds looked on.
There was a canopy in case of rain to protect the precious Stradivarius violins and pegs to hold the sheetmusic in place - but the weather gods were kind.
A uniquely Hull atmosphere was produced for the live Radio 3 broadcast with the sound of sea shanties from a folk festival in the Marina reflecting off the Deep opposite and squawking seagulls.
The last time the BBC Proms were outside London was for the Northern Proms at the Free Trade Hall in Manchester, Leeds Town Hall and the Philharmonic Hall in Liverpool in 1930.
They are back in Hull giving three performances today marking the city's special place in the spotlight as City of Culture.
They are taking place at a new outdoor stage in a former dry dock on the river Hull, overlooking the river Humber - ideal for a concert marking 300 years since Handel’s Water Music was first performed on the River Thames for George 1.
On July 17, 1717, The King was wafted down the river from Chelsea to Whitehall on his golden Royal barge, crammed with dukes and duchesses and two mistresses, as 50 musicians played on a vessel nearby.
Looking on were director of the Proms David Pickard and Radio 3 controller Alan Davey, who said: "City of Culture has really worked. Hats off to everybody."
Asked whether the Proms would be venturing outside London again, Mr Davey replied: "Yes."
Radio 3 has already broadcast several times from the city and will be back with a new poetry festival in September.