A man spent more than five and a half hours in the water early on Sunday morning after he jumped out of a boat to try to push it away from rocks.
The 9m vessel struck rocks and began to take on water off Port Charles late on Saturday night.
The Auckland coastguard's Lion Foundation Rescue boat arrived at the scene near the tip of the Coromandel Peninsula about 1am, to find the sinking vessel 100m off the coast, with three people aboard and a fourth man missing.
The Great Barrier coastguard, Whitianga's NZCT Rescue, the fire service and the police Eagle helicopter were called in to help search the coastline for the man.
At 6.40am volunteers on board NZCT Rescue found the man sitting on the rocky shore, moderately hypothermic and relieved to see the crew.