The fire was put out before firefighters arrived at the scene and passengers and crew were taken off the ship by two other boats on the river.
No injuries were reported among the 142 passengers and nine crew members on board and the pier was briefly closed before being reopened.
"Firefighters and officers were called to a small engine fire on a tour boat in the Thames this afternoon [Sunday]. The fire was extinguished before the Brigade arrived," London Fire Brigade said in a statement.
The Port of London Authority said the boat is currently "safe and secure" by the river bank with its anchor dropped, and will be towed away in due course.
Transport for London's river services from Canary Wharf were suspended yesterday as a result of the incident.
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