"Talking to the captain was a stark reminder of the human dimension of piracy and armed robbery in the region; he was scared, but very happy that help was on the way," Cdr Williams said.
When Monmouth arrived on scene, she sent a team of Royal Marine Commandos, backed up by a Royal Navy Boarding Team, onto MV Caravos Horizon, where they worked their way through the vessel.
The intruders had fled after ransacking parts of the vessel and causing some minor damage.
Capt Gilmour was pleased with the outcome.
"Our robust response ensured the vessel was safe before the crew left the safety of the citadel.
"Responses like this assist in deterring piracy and armed robbery in the region and reassure the maritime community that we are upholding freedom of navigation in the region."
Capt Gilmour took command of the CTF 151 last month.
It is the first time a New Zealand naval officer has commanded a major multinational task force in recent decades.
The task force disrupts piracy, protects maritime vessels and secures freedom of navigation in the Gulf of Aden and Somali basin region.
- NZPA