The British duo made contact as they attempted to position themselves while navigating their way through the opening streak of the Barcelona corners at the start of Sunday’s race.
Hamilton emerged unscathed from Turn 2 but Norris, who started a place ahead of the Mercedes driver in third, suffered front wing damage which forced him to make an unscheduled pit stop.
The incident effectively ruined Norris’ race, with the McLaren driver finishing in a modest 17th place.
And seven-time world champion Hamilton felt Norris would have had a better result had he been more “patient”.
“I just felt a big hit from behind,” explained Hamilton, who matched his best result of the season by finishing second.
“But obviously Max (Verstappen) and Carlos (Sainz) went quite far and deep in Turn 1, and they were coming back, and I stayed in the slipstream, so I had to be patient, and then I got a blow from behind.
“I think it was a shame for Lando because he did an amazing job yesterday, it was great to see McLaren up there second.
“I think today, probably even if he was ahead of me in the corner, we would have passed him, because we had a bit more pace, I would say, probably in terms of racing.
“So it wasn’t a good result for him. But I think if he had been a bit more patient today he probably would have gotten a better result. But we live and we learn.
Offering his take on the collision, Norris felt he had simply been “a little bit unlucky”.
“I didn’t see the other car because the Red Bull went ahead of me,” Norris told Sky.
“And because of that, I thought there would be a normal rhythm around Turn 2 – and everyone checked massively.
“Just an error in judgment on my part.
“Maybe I could have fought Lewis more in Turn 1, but at the same time he was quite engaged and I probably would have ended up going off the track. Maybe that would have been a safer option to commit to leaving.
“But I think it was just a bit of bad luck. There was a little gap on the inside, and all of a sudden you hit the brakes harder than you ever would at Turn 2. Nothing more than that. It happens. But it didn’t change our day.