A ship carrying 200 people has collided with the Brooklyn Bridge as it was passing beneath the iconic structure, igniting a rescue operation.

Jaw-dropping footage posted online shows the moment a Mexican Navy ship's 147-foot mast collided with the bridge just before 9pm on Friday night.

A search and rescue operation has been launched to pull people from the frigid water of the East River.

It is understood at least three people are in critical condition and about a dozen others are severely injured, officials said.

Victims are being taken to the Brooklyn Navy Yard. Those who have suffered injuries are been transported to local hospitals.