Miami-Dade Fire Rescue personnel treated the two injured passengers at the scene. Neither was taken to hospital.

According to a statement from the Federal Aviation Administration (FAA), the wingtip of a Copa Airlines Boeing 737, which was taxiing towards its gate, struck the nose of a UPS Boeing 767 that was taxiing for departure to Bogota, Colombia, ABC News reported.

The FAA said air traffic controllers had instructed the UPS crew to give way to the Copa Airlines aircraft.

The agency has launched an investigation into the incident.

In a statement quoted by ABC News, UPS said: "Our crew is safe, and we are committed to working with authorities to determine what happened. The safety of our employees and the public is our highest priority."

Passengers recount frightening experience

A Copa Airlines passenger described the frightening moments leading up to the collision.

“We were taxiing after landing at a normal speed when, all of a sudden, I heard the chatter around me getting louder, followed by a collective scream and then the impact of another aircraft hitting ours,” Copa passenger Cesar Ferreira told CNN.

“Inside the cabin, we felt the plane jerk abruptly sideways. At first, some passengers started freaking out, but the Copa crew reacted quickly, getting everyone to remain seated,” Ferreira added.

The incident occurred just a day after US flight operations began returning to normal following a nationwide FAA ground stop on Friday that disrupted air travel and left thousands of passengers affected.