The lifeboat slipped moorings shortly after 1am and put to sea following a pager alert from the Irish Coast Guard.
The alarm was raised after the yacht which was on passage south to Cork got fouled in ropes and lost propulsion.
The Shannon class lifeboat Jock and Annie Slater was alongside the stricken yacht at 1,35am six miles east of Wicklow Head.
Volunteer crew members David O’Leary and Paul Sillery were transferred onto the yacht and managed to free the ropes from the propeller.
Weather conditions on scene had a sea state slight with wind southwest Force 2.
A towline was established, and the yacht was towed back to Wicklow Harbour where the three sailors were landed safely ashore and the yacht was secured alongside the East Pier by 3.30am.
The incident came just days after a 10m yacht with three on board was fouled on ropes off Wicklow Head, as previously reported on Afloat.ie.