A Maersk container ship in the area was able to get near the stricken yachties but was unable to make the rescue.
Two Auckland Westpac Rescue helicopters flew to the scene, and one was able to successfully winch them from their life raft at 12.30pm.
The crew were flown back to Auckland.
RCCNZ Manager Mike Hill said the rescue highlighted how important it was to carry the appropriate emergency communications equipment.
"If you can't make contact, no one will know you need to be rescued."
This crew were well equipped for the journey they were undertaking and had a distress beacon, satellite phone, HF radio and VHF radio, Hill said.
"As a result, they had the right communications device for their location and were able to let us quickly know when they needed RCCNZ's assistance."
The four people were reportedly shaken but only suffered minor injuries.