The Walton Coastguard Rescue Team, the Harwich RNLI lifeboat, the harbour launch boat, the search and rescue helicopter from RAF Wattisham were sent to the scene, along with a number of other nearby vessels and tugs that went to assist.
At 2.45pm the ferry was brought alongside at Harwich International Port and all of the passengers on board disembarked.
The ferry Sirena Seaways, with 489 passengers on board, hit the quay at Parkeston near Harwich in Essex just after midday, but the water it was taking on was "quickly stopped" and it arrived safely at nearby Harwich International Port at 2.45pm.
There are no reported injuries and no reported pollution.
Thames Coastguard was contacted just after midday with reports that Sirena Seaways had been damaged.
The Thames Coastguard has confirmed that a ferry carrying 489 passengers struck a quay in Harwich, Essex and started taking on water.
The Sirena Seaways ferry hit the quay at Parkeston, but the water was "quickly stopped".
Engineers are currently in discussion with the master of the ferry as to how they can tow the vessel into the harbour.
There are no reported injuries and no reported pollution, Thames Coastguard said.
Clacton's Royal National Lifeboat Institution has tweeted:
A passenger ferry is believed to have hit a quay as it docked in Harwich today, Essex Police said.
A spokesman said: "Police are at Parkeston Quay in Harwich dealing with an incident involving a passenger ferry.
"It is believed the ferry struck the quay as it berthed just after 1200 today.
"There are no reports of injuries to anyone on board or on the quay, the incident is ongoing."
Paramedics and an air ambulance reacting to reports of a person locked in a car and not breathing at Harwich in Essex discovered it was a just dummy when they arrived at the scene.
East of England Ambulance Service (EEAST) crews were alerted at 7.40am to Milton Road in Harwich to a person believed to be unconscious in a car.
Mr Sanderson added the mannequin had been found in "bizarre" circumstances.
It was sitting upright in the rear seat, fully dressed and with a blanket wrapped around it.