Two aircraft collided at a taxiway intersection at Miami International Airport, with one plane's wing striking the nose of the other, leaving two people with minor injuries, aviation safety officials said Sunday.

The incident occurred around 9pm Saturday and involved a Copa Airlines Boeing 737 passenger plane carrying 172 people and a UPS Boeing 767 cargo aircraft, according to the National Transportation Safety Board (NTSB) and Copa Airlines.

The NTSB said the wing of the Copa aircraft struck the nose of the UPS plane.

Photographs taken after the collision showed a horizontal gash on one side of the UPS aircraft's nose, along with a larger hole in the middle.

In an air traffic control recording published by ATC.com, a UPS pilot told controllers that he had gone too far at the taxiway intersection and that his aircraft was clipped by the Copa plane. An air traffic controller told the UPS pilot that he was required to give way to the Copa aircraft.

The NTSB said it was collecting information about the incident and might issue an update later Sunday.

The Copa aircraft had arrived from Panama City, while the UPS cargo plane was scheduled to fly to Bogota, Colombia.

In a statement posted on social media, Copa Airlines described the collision as minor and said two of its passengers received treatment at the scene for minor injuries.

UPS said it was cooperating with authorities to establish the circumstances surrounding the incident.

"We cannot speculate on the details of the incident," the company said in a statement, adding that the NTSB was responsible for investigating such incidents and would oversee the release of information.

The collision occurred about two months after an Amazon cargo plane veered off a runway at Miami International Airport and crashed into a van carrying workers for an aircraft-cleaning company, killing five people.