The ship, called the Carnival Horizon, had just left port on the West Side of Manhattan shortly after 5 p.m. when the emergency was reported.
First responders had to figure out the best way to get the passenger off the ship, whether with a boat or through the air.
But there was not enough room to land a helicopter on the cruise ship deck. So an NYPD Harbor Unit boat was used to take the passenger off the ship just after 6:30 p.m.
The 74-year-old woman was taken to Staten Island University Hospital conscious and alert.
She was suffering from chest pain.
See video of the rescue from NewsCopter 7 below:
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