The company delivered 4,467 vehicles for the quarter ended June 30.
Rivian said that the figures are in line with the company's expectations and that it is on track to deliver on the 25,000 annual production guidance previously provided.
Rivian produced 2,553 vehicles in the first quarter of the year. The Rivian R1T pickup truck, R1S SUV and EDV commercial electric vans are part of the mix.
The numbers show that Rivian is bucking the trend set by other EV makers. It was the first time in two years that deliveries fell for the company.
The total number of electric vehicles delivered by the company in the second quarter was more than double the number delivered in the first quarter. Supply chain constraints have hampered the growth of the company.
The production outlook has been reduced from 20,000 to 12,000 units.
Rivian said in May that it wanted to own more than 10% of the global market.
The automaker wants to increase production at its factory in Illinois by introducing a second shift. A $5 billion facility in Georgia will be the largest facility in the world.