The five, on their way back to Sydney after competing in the Sydney to Hobart yacht race, were hit by heavy weather and capsized on Tuesday night in their 11.6 metre (37.3 foot) racer Savcor.
The boat righted itself but was disabled, and a freighter diverted to the scene on Wednesday to shelter the yacht from fierce winds until a police launch arrived.
The five were all suffering from exhaustion, sea sickness and hypothermia.
“It’s very, very good to be here,” the vessel’s lone female sailor Mikaela Ahlback said on returning to land, adding that she did not have time to be scared during her 13-hour ordeal.
“I’m never coming sailing in Australia again,” she said.