He believes that hydrogen is limited in that to create it, water needs to be electrolysed and the power to do this has to come from somewhere. It then has to be pressurised so enough can be stored in a tank to drive a car.
Musk is the most outspoken in his doubts about hydrogen power but he's not alone. Hideyuki Sakamoto, a Nissan executive, also claimed that the future was electric - and that electricity would be stored in batteries. "Our zero-emission strategy centres on electric vehicles," he told Nissan's AGM. "We are pursuing improved electric powertrain technologies which will enable us to mass produce and market EVs that equal or surpass the convenience of petrol-powered cars."
Nissan already produces the Leaf, the best-selling EV on the market, and Sakamoto's statement indicates hydrogen will continue to play only a small role in the company's future.
So where does the future lie?
In hydrogen's favour are its similarities to petrol. It takes a few minutes to fill a tank with the gas in a process similar to topping up a conventional car and many have a long range - the Mirai's is 550km. Against it is the huge and costly task of developing the infrastructure to support hydrogen, from creating enough of the gas, transporting it and building a network of filling stations.
EVs powered solely by batteries have shorter ranges and charging them takes longer - even "rapid" chargers take 30 minutes - but the infrastructure is seen as easier to introduce.
Cost remains a factor for both.
It was Toyota which made the hybrid mainstream with its Prius, which it introduced in 1997.
"Current hybrids like the Prius are a stepping stone to the longer-term goal," says Toyota's Neil Spires. "We're not saying hydrogen isn't a bigger challenge, but when we introduced the first Prius we were laughed at."
So the road ahead may not yet be clear. But most experts broadly agree that motorists of the future are likely to drive a mixture of vehicles. "No one is really gambling one way or the other," says Paul Newton, auto analyst at IHS. "Fuel cells or pure electric cars won't completely replace hybrids or petrol engines for decades."