Two people and a pet dog have been saved from a yacht crash on a notorious limestone rock near Hillarys.

Whitfords Marine Rescue volunteer Neil Harrison told Millsy and Karl on 6PR Breakfast the occupants had to swim to rescue workers as they could not be approached due to the “treacherous” waters.

“They were pretty tired, wet, and pretty thankful,” Mr Harrison said.

Press PLAY to hear more about the epic rescue

The rescue team were called out to the incident after 10pm, braving choppy waters to reach the trio.

Press PLAY to hear the moment Whitfords Marine Rescue made the save