This page contains information regarding Star Trek: Discovery, and thus may contain spoilers.
(covers information from several alternate timelines)
In 2256, when Lieutenant Keyla Detmer said collision was imminent between the USS Discovery and an O-type star, Captain Gabriel Lorca responded that collision was not an option. (DIS: "The Butcher's Knife Cares Not for the Lamb's Cry")
In the alternate reality of 2258, as Captain James T. Kirk flew toward the USS Vengeance, his flight path was being monitored by the bridge crew of the USS Enterprise who reported that he was heading toward a collision at .432. When informed by Spock of debris directly ahead in his path, Kirk maneuvered himself around it and avoided the collision. (Star Trek Into Darkness)
In 2268, when it seemed the USS Enterprise would collide with a Cheron scout vessel, Captain James T. Kirk gave the order to sound the warning for a collision with Hikaru Sulu sending the following message to the ship's crew, "Brace yourself for collision. Brace yourself." (TOS: "Let That Be Your Last Battlefield")
In 2365, aboard the IKS Pagh, Captain Kargan asked for Commander William Riker's opinion on a hole which had appeared in the hull of the Klingon ship. Though he did not feel anything, Riker asked if the Pagh had collided with a small meteor, to which the captain responded that there had been no collision. (TNG: "A Matter Of Honor")
Also, in 2368, a collision between the USS Enterprise-D and USS Bozeman led to a temporal causality loop in which the Enterprise was repeatedly destroyed in the collision. After approximately 17.4 days, the loop was broken when the collision was averted. (TNG: "Cause and Effect")
In 2375, when the USS Voyager was navigating its way around chaotic space, the helmsman Thomas Paris suggested, that after a course had been set for the elusive entrance, the starship should go to impulse. The science officer Tuvok responded that the most likely outcome would be the Voyager colliding with an asteroid field or star. (VOY: "The Fight")