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Bridlington Coastguard Rescue Team, Filey Coastguard Rescue Team, and Flamborough RNLI were dispatched to Thornwick Bay near Flamborough on Saturday, October 10 following reports of four people struggling in the water.
Flamborough RNLI said in a statement that the men were aged between 20 and 25.
A spokesman for the East Yorkshire Coastguard Service said one person was in the water when crews arrived, with one man able to reach shore, and two people being sheltered in a cave.
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Flamborough RNLI, assisted by the coastguard team, successfully rescued the swimmer, who was placed in the care of ambulance crews.
An aerial rescue of the two people trapped in the cave was not possible, the service said.
After an initial assessment of a crew member who had fallen down the cliffs to within five meters of the cave, Flamborough RNLI crews rescued the two people who were then transferred to a rescue helicopter and then to the Yorkshire Ambulance Service.
A spokesman for the Bridlington Coastguard Rescue Team said: “A fantastic example of multi-agency teamwork, with Coastguard teams, RNLI volunteers, the rescue helicopter crew and ambulance colleagues working together in challenging conditions to bring all four people to safety.
“This incident could have had a very different outcome.
“We would like to thank everyone for their professionalism, teamwork and dedication during the rescue.”
