An investigation was launched into an incident involving the Southampton-based luxury liner QE2 and a cross Channel ferry.
The ferry was forced to reduce its speed to avoid a collision in the Dover Strait, said marine investigators.
The liner should have given way in the "close quarters" incident, said the Marine Accident Investigation Branch.
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.
The QE2, with 1,822 passengers and 1,011 crew on board, was travelling from Zeebrugge to Southampton when the incident happened on December 15.
The Pride of Kent had left Dover for Calais with 704 passengers and 103 crew on board.
Its action allowed the liner to pass 0.6 miles ahead.
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