The 50-year-old actor, who hasn't been seen with his daughter since June 16, hugged Suri tightly as they entered a Greenwich Hotel in New York.
Emotions were particularly high at the father-daughter reunion as Suri had been involved in a scary car accident with Katie only hours before.
The six-year-old and her mum were passengers in a Mercedes when their car was side-swiped by a garbage truck in the Big Apple on Monday night.
Luckily, the pair escaped unharmed with police saying no injuries were reported in the incident.
"It was nothing major other than the fact that it was Katie Holmes," a source told the NY Daily News.
Pics from the accident show the car was dented and scratched on the rear driver side.
Tom picked Suri up from Katie's apartment for their reunion but according to reports the actor didn't see his soon-to-be ex-wife.
TMZ claims Tom was inside the apartment for less than five minutes before whisking his daughter out the door.
The two are said to have been calling each other on Skype during the past month while Tom has been shooting his upcoming movie Oblivion in Iceland.
The actor's lawyers told the media last month, "Tom loves Suri very, very much, as he does his other two children. Tom is a family man, and dedicated to his children. They are the centre of his world."
