The pier was extended 120 feet and other improvements include an expanded terminal, a new 1,044-space parking garage and new mobile passenger boarding bridges.
Carnival Sunshine also will berth at Terminal 5.
Renovation of the 1991-built terminal began in August to enable the terminal to handle ships carrying up to 3,500 passengers, up from its previous capacity of 2,500.
Port Canaveral said the projects involved a majority of local workers consisting of 37 companies with a construction crew of 500 on the terminal and 50 companies with a crew of 450 on the parking garage for a total of 265,000 hours with zero injuries.