A mooring system for a vessel includes an attachment unit configured to be detachably attached to a hull of the vessel; a robot arm including a plurality of arms, the arms being coupled to each other to turn in a vertical direction, the robot, arm extending by an arm actuator provided thereto to transfer the attachment unit to an attachment position of the hull; a rotation unit connected to the robot arm and allowing the robot arm to turn in a horizontal direction; and a mooring winch for winding a mooring cable to draw the attachment unit. A floating body or a quay wall may include the mooring system.