The incident occurred at roughly 9:15 p.m. at the intersection of two taxiways, officials said.

Copa Airlines said its Flight 427 had landed from Panama City at about 9 p.m. and was heading toward the terminal when the collision occurred. Preliminary information indicates the cargo aircraft struck the left wingtip of the Copa plane while both were taxiing, the airline said.

The Copa aircraft, a Boeing 737-800, was carrying 166 passengers and six crew members at the time.

Airport paramedics evaluated two passengers for what appeared to be minor injuries. Both were assessed at the scene and were not taken to a hospital, according to Copa, which said all other passengers and crew members were reported to be in good condition.

UPS confirmed that one of its planes was involved in a ground incident in Miami but did not describe the extent of any damage.

"We are aware of an incident involving one of our aircraft on the ground in Miami. Our crew is safe, and we are committed to working with authorities to determine what happened," the company said in a statement.

The collision did not immediately appear to disrupt airport operations, though the circumstances remained under review. It was not clear Sunday whether the taxiway intersection where the planes made contact was reopened or how the two aircraft came to be in such close proximity.

Miami International is among the busiest airports in the country for both passenger and cargo traffic, and its taxiways handle a constant mix of commercial jets and freighters. Ground collisions of this kind are relatively rare but can occur when aircraft are maneuvering in tight quarters during peak arrival periods.

Neither airline identified the pilots involved or said whether either aircraft sustained damage beyond the wingtip. Federal aviation authorities are expected to review the incident, and both carriers said they would cooperate with the investigation.