There were no trees near the fire but plenty of long kikuyu, so the chances of it spreading were high.
"It was lucky that other campers were vigilant and called it in."
The Rawhiti fire crew returned the following day to investigate. Mr Taylor said he was working to identify the people who had started the fire.
Fires are banned year-round on Urupukapuka which is a Department of Conservation-administered reserve.
So far brown teal (pateke) and saddlebacks (tieke) have been released on the island. Whiteheads (popokotea) and North Island robins (toutouwai) are due to follow this autumn.
Meanwhile, ground crews and helicopters armed with monsoon buckets responded to two fires in the Horeke area, South Hokianga, on Sunday afternoon - the first at 3.30pm on Motukiore Rd, the second less than two hours later at Mangataraire Rd.
Both were kikuyu fires kept to less than 0.5ha by quick responses led by the Okaihau Fire Brigade.
Mr Taylor said the first blaze was an unpermitted rubbish fire which had escaped. The second was still being investigated.
"Again, these fires were due to people not paying attention to the fire danger. The grass is catching everyone out. It looks green on top but it's brown underneath and carries fire very easily," he said.