The docking took place at 8:10 a.M. (0740 IST, 10:10 p.M. EDT) less than six hours after the Russian spacecraft lifted off from the Baikonur Cosmodrome, which Russia leases in Kazakhstan.
Live footage provided by NASA TV showed it soaring into the clear night sky. About four minutes later, the announcer said the Soyuz was travelling at about 7,500 kilometers per hour.
The cramped capsule carrying NASA's Karen Nyberg, Russian cosmonaut Fyodor Yurchikhin and Italy's Luca Parmitano orbited the Earth four times before docking with the space station.
Nyberg, Yurchikhin and Parmitano were greeted by NASA's Chris Cassidy and Russians Aleander Misurkin and the station's commander Pavel Vinogradov, who have been aboard the space station since late March.
Yurchikhin, 54, is a veteran of three previous spaceflights, while the 36-year-old Parmitano, a former test pilot, is making his first trip into space. Nyberg, 43, spent two weeks in space in 2008 as part of a US space shuttle crew. Four spacewalks are planned during the expedition, including what NASA said would be the first by an Italian.