The Flybe flight reportedly sent out a squawk 7700 signal, meaning the crew has an “urgency” or “distress” situation.
It left Amsterdam at 17.00pm yesterday and was originally scheduled to arrive in Doncaster at 17.55pm, but landed safely at 18.05pm.
The plane declared the emergency at an altitude of 10,000ft near the Norfolk coast.
A Flybe spokesman said: "Flybe can confirm that the aircraft operating the above flight incurred minor damage to a small area of the windscreen.
"The captain followed the necessary precautionary procedures as required and the aircraft landed as normal upon arrival at Doncaster Sheffield Airport."
They added: "We stress that this was not a mid-air emergency. There are several layers to the windscreen to protect it and this was minor damage to the outside layer only."