The agency noted that docking took place at 5:42 a.m. Beijing time (21:42 GMT) around 6.5 hours after the spacecraft was launched with the Long March 2F launch vehicle.
The crew includes commander Fei Junlong, Deng Qingming and Zhang Lu.
At 7:33 a.m. Beijing time (23:33 GMT) the crew entered the space station and met with the crew of the Shenzhou-14 mission, which has been taking place since June.
During the Shenzhou-15 mission, the last construction stage of the Chinese orbital station will be completed, and the stage of its use and development will officially begin.
China's Shenzhou-9 manned spacecraft, left, conducts docking with the Tiangong-1 space lab module.
© AP Photo / Beijing Aerospace Control Center
After the arrival of the manned spacecraft to the station, its first orbital rotation of crews is soon expected to take place, during which the Shenzhou-14 crew will go to Earth after a six-month mission, and the Shenzhou-15 crew will continue working at the station until May.
Construction of the Tiangong space station officially began in April 2021. The basic structure of the T-shaped station consists of the Tianhe core module and two laboratory modules - Wentian and Mengtian - docked to it. The station can host up to six people at the same time during a crew rotation change. The operational life of the station is 15 years and should end in 2038.