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A regular contact manifold is a manifold $M$ equipped with a globally definedcontact form $\eta$ such that the topological space $M/\mathcal{R}$ of orbits(trajectories) of the Reeb vector field $\mathcal{R}$ of $\eta$ carries asmooth manifold structure, so the canonical projection $p:M\to M/\mathcal{R}$is a smooth fibration. We show that, under the additional assumption that$\mathcal{R}$ is a complete vector field, this fibration is actually either an$S^1$- or an $\mathbb{R}$-principal bundle. Moreover, there exists a uniquesymplectic form $\omega$ on $M/\mathcal{R}$ such that$p^*(\omega)=\mathrm{d}\eta$ which is $\rho$-integral in the $S^1$-bundle case,where $\rho$ is the minimal period of the $S^1$-action, so the symplecticmanifold $(M/\mathcal{R},\omega)$ admits a prequantization. We do not assumethat $M$ is compact.

Regular contact manifolds: a generalization of the Boothby-Wang theorem