The bridge is already closed to traffic because of structural issues.
The boat eventually managed to free itself form under the bridge and had to make a U-turn.
It is not yet known if any damage has been caused to the structure.
Sarah Olney, Member of Parliament for Richmond Park commented:
“The crash was completely avoidable. The company needs to apologise for its actions and the Government needs to step in to make sure no major damage was caused.
“It’s sad to see this symbol of West London being left to rot. After decades of neglect, this crash should be a wake up call.
“Hammersmith Bridge needs to be restored and treated with the respect it deserves. “