There were fenders and chestrees. With the wales protruding from the surrounding planking the fenders were to protect the hull and cargo such as barrels being hauled onto the ship (parbuckling) and they were actually replaceable wear strips, I have never seen any description based on contemporary sources that describe these in connection with ships boats or rubbing against other ships but they may have served that purpose as well. The scantlings for fenders and chestrees for various rates can be found in Steel's Elements and Practice of Naval Architecture, although Goodwin gives different scantlings. I am not sure of his sources for the figures he uses. From Steel, the fenders were sided anywhere from 2.5" to 5" and moulded 4" to 7" depending on the ship rating. They also tapered 1" to 1.5" so barely noticeable at our most common scales.
As to the number, there were as many as four or five on first, second and third rates until about 1706 when the fifth fender was eliminated. In 1736 this was reduced to three with the two opposite the main hatch, spaced about 2' 9" apart. About 1780 the third was shortened and served as the chestree.
There was one chestree on each side and each carried a sheave for the main tack. It was sided from 4 inches to 10 inches and moulded 4" to 8" depending on the ship rating. It tapered from 1.5" for smallest vessels to 3" for first rates. When the chestree was no longer considered a fender and shortened, the lower end stopped at the upper edge of the middle wale on three deckers, the upper edge of the channel wale on two deckers, and a little above the main wale on single deckers.
During the early part of the 19th century the fenders were eliminated.
Allan