Jing Haipeng, Zhu Yangzhu and Gui Haichao collaborated to pull off all set tasks with the assistance of the space station's robotic arm. Jing and Zhu have since returned to the Wentian lab module safely.
They are scheduled to live inside the space station for around five months and return to Earth in November.
Shenzhou XV mission members conducted their fourth spacewalk on Saturday, surpassing previous crews, according to China Manned Space Agency.
During the spacewalk that ended at 4:50 pm, Chen and Cai mounted inter-module connection devices between the Tianhe core module and the two lab modules, and then Cai used the connection devices to move among the modules.
Senior Colonel Cai Xuzhe opened an extravehicular hatch on the Tiangong space station at 1:35 pm and stepped into space. He was followed by mission commander Senior Colonel Chen Dong, the agency said.