There were no casualties among the 462 mainly Dutch passengers and the Cypriot crew of 246.
Maritime officials said the Cypriot-flagged Calypso was towed to port almost 16 hours after the drama started in the early hours of the morning local time.
Specialist fire fighters from Britain were transported to the ship by helicopter after the Calypso sent out a distress signal.
French and British lifeboat services went to help and merchant ship plying the English Channel, one of the world's busiest waterways, were diverted to stand by.
At one point, preparations were underway to launch lifeboats and evacuate the passengers.
That proved unnecessary and passengers are now expected to be flown home from Britain.
The Calypso had left the Belgian port of Zeebrugge and was en route for Saint Peter Port on the Channel Island of Guernsey when the fire broke out.