Judge Colin Doherty said "these uses of force were disproportionate to the risk posed by the man, and excessive" but added that officers provided appropriate medical care.
In subsequent media coverage, the man said officers profiled him and used excessive force because he was Māori.
The IPCA did not find evidence the officers profiled him or used excessive force because of his ethnicity.
"This was a volatile and dynamic situation," said Auckland City District Commander superintendent Karyn Malthus.
The officers involved in the incident remain employed by New Zealand police.