"Capture confirmed," a NASA commentator said at 6:19 am (1119 GMT), as NASA astronaut Kjell Lindgren, operating the Canadian made robotic arm from inside the space station, reached out and grabbed the beer-keg shaped spaceship.
"Cygnus has arrived at the station."
Following the capture, the spaceship will slowly be brought closer to the ISS to be bolted securely on in the coming hours.
The spaceship launched Sunday from Cape Canaveral Florida atop an Atlas V rocket built by United Launch Alliance.
Both Orbital ATK and SpaceX have billion-dollar contracts with NASA to supply the ISS over a series of cargo missions with their Cygnus and Dragon spaceships.
Astronauts plan to dive into the contents of the Cygnus and begin unpacking it early tomorrow, NASA said.