The QE2 was sailing from Zeebrugge to Southampton

The liner should have given way in the "close quarters situation" on 15 December last year, the Marine Accident Investigation Branch (MAIB) said.

But the P&O ferry Pride of Kent had to slow down to allow the QE2 to pass.

The MAIB said it was satisfied with the steps taken since by both companies to prevent accidents in the future.

No injuries

The QE2, with 1,822 passengers and 1,011 crew on board, was travelling from Zeebrugge to Southampton when the incident happened.

The Pride of Kent had left Dover with 704 passengers and 103 crew, en route to Calais.

Its action allowed the liner to pass 0.6 miles ahead and there were no injuries and no pollution.

The incident was investigated by the chief inspector of marine accidents, who said P&O was to carry out an internal investigation and review bridge procedures throughout the fleet to avoid similar situations in future.

Cunard, the owner of the QE2, would send a letter to its fleet describing the incident, identifying lessons learned and providing actions to prevent a recurrence.

It would also improve bridge management training and implement new bridge procedures.