US space agency astronauts Jeff Williams and Kate Rubins reached out and grabbed the spacecraft, using the space station's 57.7-foot (17.5 meter) long robotic arm known as the Canadarm2, at 6:56 AM (local time).
"We have confirmed capture," a NASA commentator said.
The Dragon was brought in closer and bolted on to the station about three hours later, at 10:03 am (local time) while the orbiting lab was flying about 250 miles (400 kilometers) over the California and Oregon border, NASA said.
The first such docking adapter was destroyed in June last year when the SpaceX rocket exploded about two minutes after launch.
The current supply trip is the ninth for SpaceX under a USD 1.6 billion NASA contract to ferry science experiments, food, machinery and other gear to space.
The Dragon spaceship launched Monday from Cape Canaveral, Florida atop a Falcon 9 rocket.
Astronauts plan to open the hatch to the cargo ship and begin unpacking tomorrow.
