The wet and cold pair had been stranded on the rocks for 11 hours with no way to call for help. Their lifejackets were found on the beach.
The Wellington Rescue Coordination Centre dispatched the Nelson Marlborough Rescue Helicopter to the area, where the vessel was quickly located thanks to help from maritime radio and fishermen from a private vessel who came across the scene.
The St John medic on board was offloaded to assess and stabilise the situation.
After ensuring everyone was safely accounted for, the pair were winched into the helicopter and transported to Wairau Hospital for assessment and treatment to minor injuries.
"The boat was smashed to bits," Senior Search and Rescue Officer Mike Roberts said.
"These [people] ignored the safety basics. Learn from their example, if you're heading out on the water. Take two waterproof ways to communicate - preferably a marine VHF radio and a distress beacon and wear your lifejacket. Know your limitations and those of your vessel.
"Always tell somebody ashore where and when you're going, and when you expect to be back.
"You've got to be prepared for emergencies. Everyone on board a boat less than six metres should wear a lifejacket at all times. Most accidents occur suddenly, with no warning.
"There may be no time to grab a lifejacket, and it's extremely difficult to put on a lifejacket in the water. Many boaties drown less than 200 metres from shore."