The Volvo Ocean Race tweeted pictures of crew members from Team Telefonica and Team Sanya on the Sky Tower.
But Sophie Luther, a Volvo Ocean Race spokeswoman, said footage appearing to show the chopper flying within metres of the tower was misleading.
"It was never within 200 metres of the Sky Tower. It's just a perspective thing."
In another statement, Volvo Ocean Race communications director Jon Bramley said it was one of a series of planned feature stories with Auckland Tourism, Events and Economic Development to promote the city.
"One of those was to show off the city from the air and four team members from different competing yachts were invited to 'sky walk and sky jump'.
"The helicopter company involved was Helilink, a commercial operation bound by CAA regulations. As part of our usual planning process, a recce was organized by Sky Tower and ourselves to co-ordinate our filming requirements for this shoot of which Helilink were fully appraised.
"Helilink have confirmed that the operation was carried out safely and in accordance with CAA Rules and company procedures and at no time did the helicopter come within the allowed distance of the ground or any structure. This has been verified by both the pilot and crew involved in the operation."
Helilink's website says it is Auckland's only downtown helicopter company.
The site said the company has a strong commitment to safety standards and quality assurance.
Another shot shot tweeted by Volvo Ocean Ra shows the teams waving to the chopper.
An Airways spokeswoman said the helicopter did not have to register its flight as the area around the Sky Tower was not controlled airspace.
It would be expected to provide regular updates on its position to other helicopters and planes in the area, she said.
