Sirena Seaways is part of the ferry operator DFDS Seaways which travels to France, Holland and Denmark.
DFDS Seaways said in a statement: "
We can confirm that Sirena Seaways sustained some damage on entering the port at Harwich during today's scheduled arrival at 12noon UK time.
This has resulted in the late discharge of the ship. There is no danger to passengers or crew, and we are working hard to disembark the passengers and vehicles from the ferry as quickly as possible.
"We are currently assessing the situation before it is able to resume its service on the Harwich - Esbjerg route.
We would like to apologise to passengers for any inconvenience caused to their travel plans. We should have further details on the future timings of the service shortly."
More top news
A little girl has been reunited with her missing toy bunny just in time for Christmas with the help of a month-long Twitter campaign.
Elodie Harper blogs about meeting the teachers who choose to work with the most challenging children - and what motivates them.
Largely cloudy tonight and tomorrow with some dampness at times but staying mild for December.