The men made it to shore, where three people live, and were safe and well.
Rescue Coordination Centre spokesman Keith Allen said the crew did the right thing by taking their handheld radio with them, which meant they could communicate directly with the Orion.
The yacht is owned by Peter McLean who was on board with his son, along with Havana Coffee Works founder Geoff Marsland.
Fairfax reported the fourth crew member was co-owner of Wellington's Fidel's Cafe, Roger Young.