The 33-year-old actress and Suri were leaving Chelsea Piers Monday night when their Mercedes got sideswiped by a garbage truck denting the ride but doing no harm to anyone inside.
Suri had been at a gymnastics class at Chelsea Piers, reported New York Daily News.
Onlookers said the accident was minor and Holmes and Suri were not seen at the scene of the crash. "It was nothing major other than the fact that it was Katie Holmes," an onlooker said.
Police arrived on the scene and noted Holmes' chauffeur-driven vehicle had sustained a large dent and several scratches to the rear driver side panel after the Volvo truck - from Classic Sanitation Recycling New York Corp - had apparently backed into the luxury vehicle.
Holmes filed for divorce from actor husband Tom Cruise last month.