Footage of the event, which took place at the city’s Chase Center, has gone viral on social media.
“Ladies and gentlemen, make some noise for the richest man in the world,” Chappelle introduced Musk to the audience, which responded with a chorus of boos.
Some cheers could also be heard in the video posted to Twitter.
“You weren’t expecting this, were you?” Musk said to Chappelle.
“It sounds like some of those people you fired are in the audience,” the comedian responded.
At least 80% of the audience was booing, according to one Twitter user who said he attended the show.
“Dave gave him so many chances to speak but he just put his hands in his pockets,” the user tweeted.
“I actually felt bad for him. I’m by no means an Elon fanboy, more a centrist. I wanted to shake him: for the love of god man, say something and pretend it’s a tweet!!”
The initial footage of Musk’s welcome by the San Francisco audience has since been taken down, and the account responsible has been suspended, according to a report.