It has happened before;
The Most Intense Bridge Conversation EVER – USS Porter Collides With Supertanker
On August 12, 2012, the U.S. Navy guided-missile destroyer USS Porter collided with a Mitsui OSK Lines’ supertanker M/T Otowasan near the Strait of Hormuz in the Persian Gulf. The collision tore a 3 by 3 meter (9.8 ft — 9.8 ft) hole in the starboard side of the destroyer, forcing it to Jebel Ali, Dubai for repairs. No one was injured however.
The ship’s captain, Cmdr. Martin Arriola, was subsequently relieved of command and replaced by Cmdr. Dave Richardson. On 12 October 2012, the Porter rejoined Carrier Strike Group Twelve for its transit through the Suez Canal following extensive repairs to the ship.
http://gcaptain.com/intense-bridge-conversation-porter/
It has happened before
It has happened many, many times before. I was n the USS Mars (AFS 1) when we had a major collision with the USS Cook (FF 1083) in 1979.