Nobody on board was injured following the crash at 15:40 BST yesterday 11 September, police said.
The fire was put out before firefighters arrived at the scene and passengers and crew were taken off the ship by two other boats on the river, the BBC reported.
Some 142 passengers and six crew were evacuated, while three crew remained on board.
A spokesman for the Port of London Authority confirmed that both of the boat’s engines had failed, forcing the ship’s master to drop his anchor, adding that the boat is currently “safe and secure” by the river bank and will be towed away in due course.
The pier has now re-opened following temporary closure.