The crew officially welcomed passengers on board the vessel as it began its service to Arran shortly after 6.30am on Monday morning.
After completing the first voyage on Sunday, CalMac said it had overcome some last-minute snags on the vessel.
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Originally due in 2018, the ferry and its sister ship Glen Rosa have endured delays and technical problems at shipyard Ferguson Marine.
Last week, John Swinney (below) apologised to islanders who had been impacted by the delays.
(Image: PA)
During the test run on Sunday, with crossings between Troon and Brodick, Glen Sannox carried a maximum of 154 foot passengers, 53 cars and two commercial vehicles.
Duncan Mackison, chief executive of CalMac, said: “Operating a test run with MV Glen Sannox gave the crew a fantastic opportunity to stress test the vessel and ensure the experience people have aboard is optimal before she formally enters service.
“A massive effort has gone into getting MV Glen Sannox to this stage, and everyone at CalMac is excited to have her in the fleet and serving Arran.”
Writing on Twitter/X, Scotland’s Minister for Agriculture Jim Fairlie said: “Delighted that the Glen Sannox gets close to docking in Brodick on her maiden journey.
“Sailing today in challenging conditions she will bring much needed resilience and relief to the communities that rely on her.”
We told on Sunday how Arran residents had said they were looking forward at the ferry coming into service.
Bill Calderwood, chair of Arran Community Council and secretary of the Isle of Arran Ferry Committee, told the Sunday National: “There is lots of enthusiasm, and the boat will be very welcome.”
Elsewhere, chief executive of VisitArran Sheila Gilmore said: “People are excited about it, it was quite emotional the first time we saw her out in the bay, that was a big thing.
“So we’re really looking forward to seeing her come into service. I think there’s a little bit of ‘we’ll believe it when we see it’ because we’ve kept taking one step forward, two steps back.
“But we want to be as positive as we can because this is going to offer some resilience in the network so that has to be a good thing and hopefully the reliability will reverse some of the media negativity that’s been there.”