The company says its electric truck produces over 1000hp (746kW) and more than 2700Nm of torque.
As part of the Nikola One's leasing program, owners will be offered unlimited hydrogen fuel, warranty and scheduled maintenance during a 72-month leasing term.
In its accompanying release, Nikola says it has accepted nearly US$3 billion in "future orders".
The Nikola One is scheduled to go into production before the end of the decade, while the company also plans to commence construction of its hydrogen fueling stations from January 2018.
Speaking at the reveal, company boss, Trevor Milton, said: "We are extremely excited to finally show off the Nikola One to the public for the first time".
"Nikola will build a world-class advanced manufacturing facility which will create thousands of new jobs".
"There are many out there that wondered if we would deliver, but today we proudly show off the most advanced semi-truck ever built. We couldn’t be more thrilled to have one of the best brands in America, Ryder, as our trusted partner providing nationwide sales, service and warranty for Nikola Motor Company," he added.
Eager buyers can reserve their Nikola One for a "fully-refundable" $1500 deposit, with lease rates projected to be between US$5000 to US$7000 a month ($6725 to $9415).
At the event, Nikola also revealed plans for a 107kWh upgradable battery pack for its electric utility task vehicle (UTV) - the Nikola Zero.
Set to be made available sometime in 2017, Nikola's new battery pack is claimed to be more energy dense and lighter than any production vehicle battery pack currently available.
The company says its battery unit could power a BMW i3 for over 400 miles (644km) on a single charge and still fit within the i3's current chassis.
Above: Nikola Zero
"This new battery pack will be offered for sale to other OEMs in 2017, as well as an upgrade option for the Nikola Zero UTV," said Milton.
Currently the Nikola Zero is fitted with a 72kWh battery pack, has a 0-60mph (0-96km/h) time of 3.0 seconds and claims a zero-emissions range of 100-200 miles (161-322km).
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