The paddle steamer was being assisted by local work boats to help it berth in Torquay Harbour, in Devon, when the collision occurred.
Torbay Council confirmed "winds caused PS Waverley to move away from the berth, and while assisting the vessel alongside, the workboat was briefly pushed against Princess Pier".
No-one was injured and the paddle steamer suffered no damage, Waverley Excursions said.
The famous steamship is carrying out a series of spectacular cruises along the south coast between September 3-22.
There will be a Beachy Head and Seven Sisters cruise on September 21 and 22, while the ship will set sail from Newhaven for the first time publicly since the 1980s.