At least 14 people have been killed since riots broke out in August after President Alassane Ouattara said he would run again following the sudden death of his preferred successor.
The main opposition candidates, Pascal Affi N’Guessan and Henri Konan Bédié, said it was illegal for Mr Ouattara to stand for a third term.
They boycotted the vote and have called for civil disobedience.
Polls closed on schedule at 18:00 local time (GMT). Votes are now being counted, according to Reuters news agency.
There were reports of disturbances in opposition strongholds on Saturday, with roads blocked and election material burned.
After voting in Abidjan, Mr Ouattara called for an end to the protests.
“I call on those who called for civil disobedience, which led to the loss of life, to stop,” he said.
“They should stop because Ivory Coast needs peace, these are criminal acts and we hope that all this can stop, so that after the election this country may continue on its course of progress, which it has enjoyed over the last few years.”
He also urged people to cast their ballots.
“I have just accomplished my civic duty. I ask all our citizens who love peace and patriotism to go and vote. It is an important day for democracy,” he said.
Who are the four presidential candidates?
- Alassane Ouattara, 78, an economist. Became president in 2011, serving his second term after years in opposition. Party: Rally of Houphouëtists for Democracy and Peace (RHDP)
- Henri Konan Bédié, 86, career politician. Served as president between 1993 and 1999, deposed in coup. Party: Democratic Party of Ivory Coast (PCDI)
- Pascal Affi N’Guessan, 67, career politician. Served as prime minister between 2000 and 2003 under then-President Laurent Gbagbo. Party: Ivorian Popular Front (FPI) faction
- Kouadio Konan Bertin, 51, career politician, known as KKB, was once youth leader in the former ruling Democratic Party of Ivory Coast, is now an MP. Independent candidate
BBC