The capsule named Dragon was captured - with the help of a robotic arm - by Nasa Expedition 34 Commander Kevin Ford and Flight Engineer Tom Marshburn, 5:31 am EST (1031 GMT), US space officials said.
The craft owned by SpaceX corporation will now be brought to the Earth-facing port of the ISS's Harmony module and bolted into place via commands from mission control.
Dragon is carrying 1,200 pounds (544 kilograms) of supplies on SpaceX's second resupply mission to the ISS.
This is the third commercial mission by SpaceX - Space Exploration Technologies - to the orbiting space station under contract with Nasa.
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