The 100-metre-long Swiss Crystal, which is owned by Scylla, was carrying 129 passengers and travelling along the Rhine when it struck a pillar of the bridge near the city of Duisburg.
Four people were taken to hospital but were released on Wednesday, with most of the injuries described as minor.
The vessel was carrying tourists from Belgium, the Netherlands and Luxembourg.
Several boats from the local fire department attended the scene as part of the rescue operation, the BBC reported.
Passengers were able to continue their voyage after Scylla provided a second ship.
