The flight, from Iceland, was forced to make a stop at Birmingham Airport.
Fire engines were spotted spraying the troubled jet, which had issues with its hydraulics and tyres.
The emergency landing has caused dozens of flights coming in and out of Birmingham Airport to be delayed.
A statement from Birmingham Airport said: “Birmingham Airport can confirm that the D86241 landed safely with 152 crew and passengers on board. Birmingham Airport’s fire service is in attendance as a precautionary measure.
“If you are travelling today please check the arrivals/departures page on Birmingham Airport website.”
A spokesman for Norwegian, the airline operating the Boeing 737, said: “The flight had to divert due to a technical issue. It had originally been going from Reykjavik to Madrid when it landed safely at Birmingham Airport as a standard precautionary measure.
“The fire trucks put foam under the aircraft as a standard precautionary measure. “We will do everything we can to look after our passengers.”
Steven Robson tweeted: “Stuck on a plane at East Midlands Airport because Birmingham Airport is closed.”
Matthew James tweeted: “Emergency plane landing at Birmingham Airport, fire service in attendance, runway now closed for over two hours.”
Birmingham Airport is the seventh busiest UK airport and welcomed almost 13 million passengers last year.