The woman who went missing from aboard a Singapore-bound ferry on Saturday morning has been rescued, said the Maritime and Port Authority of Singapore (MPA).

The Police Coast Guard confirmed with the MPA at about 9pm on Saturday, that the Singaporean passenger had been picked up by a fishing vessel and brought to the Indonesian island of Batam, added the authority in a statement released later that night.

"The Ministry of Foreign Affairs is assisting her travel back to Singapore," said an MPA spokesman.

The woman, who was not identified in the MPA statement, was found missing after the Singapore-flagged ferry Sindo Empress arrived at the Tanah Merah Ferry Terminal from Tanjong Pengellih in Malaysia at 7.30am.

Five vessels, three from the MPA and two from the Police Coast Guard, had been activated for search and rescue (SAR) operations.

"MPA has terminated the search and rescue operation and would like to extend its appreciation to the Police Coast Guard, Malaysia Marine Enforcement Agency, Batam Port Authority and Tanjung Pinang Rescue Coordination Centre for their assistance in the SAR operation," said the spokesman.