The Austrian daredevil's leap from the edge of space came exactly 65 years to the day that Mr Yeager, a retired US air Force pilot, became the first man to break the speed of sound in an aircraft.
As Baumgartner reached 833mph when he fell 24 miles from space, Yeager, who is now 89, was flying in an F-15 Eagle as it broke the sound barrier at more than 30,000 feet above California's Mohave Desert.
It was the same place he first broke the sound barrier in 1947 and 700 miles from where Baumgartner began his ascent.
Yeager reportedly told journalists after his flight that he was unaware of Baumgartner's record-breaking attempt.
And he seemed decidedly underwhelmed at having broken the sound barrier again. "Flying is flying," he told the Las Vegas Review-Journal. "You can't add a lot to it." However he appear to play up the significance of it when asked by a young girl if he was scared during Sunday's flight, Yeager, who sat in the plane's passenger seat, joked, "Yeah, I was scared to death."
