Thousands of people turned out to catch a glimpse of the vessel as she sailed up the Southampton water & Solent earlier.
Queen Elizabeth 2 (QE2) made its last transatlantic crossing in 2008.
Queen Elizabeth docked at the city's Ocean Terminal just before 0900 BST.
About 2500 people lined the length of Southampton's Town Quay and Mayflower Park taking pictures as its horn echoed along the Solent.
The BBC's Stephen Stafford, who was at the waterfront, said there was a "sense of pride and admiration" as the ship sailed into the world-famous port.
