In the footage, the ferry's captain can be heard saying, "I've got to slow down … I don't know where that yacht's gone."
Aleysha Knowles was aboard the ferry, and watched the nerve-racking moment unfold.
"My boyfriend is a captain on a super yacht, so he was telling me that surely the ferry would slow down because of the maritime rule 'power gives way to sail', but he just didn't," she said.
Another yacht can be seen in the background of the video, which is thought to be a Team New Zealand boat.
The United States syndicate's Defiant tipped over earlier this month while training on the eastern side of Browns Island, reports Sail-World.
The boat quickly recovered with no apparent damage to continue sailing.
The incident showcased the safety features of the AC75, suggesting the boats will be able to be pushed to its limit and recover from any mishaps, unlike the AC50 and AC73 boats in the 34th and 35th America's Cups respectively.
Team New Zealand also capsized their AC75 Te Aihe back in December but were also able to quickly resume training.