At the same time, the car-carrier vessel Fidelio was diverted on a "mercy dash'' to the distressed yacht, MNZ said.
The Orion arrived on scene about 4.30pm and found the 11 metre yacht, with one man from British Columbia on board, in danger of sinking due to damage from the storm, MNZ said.
The plane contacted the skipper by radio, and passed on information from the stricken yacht to the Fidelio, which measures 238 metres.
It then went onto Rarotonga to refuel.
The Fidelio reached the yacht just before 11pm, and maneuvered in 45 km/h winds and swells up to 3m to allow the sailor to climb aboard via the pilot's ladder, MNZ said.
Mr Wilson said the sailor had been in "serious danger''.
"The crew of the Orion did a great job finding the yacht, and it was an amazing effort from the master and crew of the Fidelio to rescue the skipper at night, in high winds and rough seas. The sailor received superficial facial injuries when his vessel rolled and these have been treated aboard the Fidelio.''
The Fidelio is continuing to Auckland, and is likely to arrive on Thursday.