The collision occurred Monday night as mother and daughter were leaving Suri's gymnastics class at Chelsea Piers in Manhattan, the newspaper said. Their car was being driven by a chauffeur.
"It was nothing major other than the fact that it was Katie Holmes," a police source told the Daily News.
Holmes settled her divorce from Tom Cruise last week. Holmes moved in late June to end their five-year marriage and resides full-time in New York with Suri.