Construction of the first pier on the present location started in 1904, after the great land reclamation which extended Salisbury Road. It was of a "finger design". The pier opened in 1906, but was destroyed by typhoon in September 1906.
Its replacement, which was designed to accommodate two ferries, was completed in 1914. In the early 1950s, construction of the present twin-piered terminal commenced on both sides of Victoria Harbour. The structure was completed in 1957, concurrent with the completion of the now demolished Edinburgh Place Ferry Pier, which was built on the island side. Both piers were examples of Streamline Moderne.
Like the Ferry Pier on Hong Kong Island, the pier consists of a two bi-level piers. The upper level boarding is more expansive than the lower level boarding area. The two structures are supported by wood pilings. Unlike the Hong Kong side, the Tsim Sha Tsui pier itself does not have a clock tower, though one is located nearby.