The inshore lifeboat was on scene within minutes, and quickly established a tow to take the 14ft vessel off the rocks, Baltimore RNLI says.
After checking for damage, the sailboat and its sailors were bought back to the safety of the pier in Baltimore.
Speaking after the callout, Baltimore RNLI press officer Kate Callanan said: “The sailors did the right thing in asking for assistance as they were unsure of how to proceed once the boat had gone ashore.
“They were both wearing lifejackets and were carrying mobile phones which they used to call the coastguard to alert them of their situation.
:If you get into difficulty on the water or along the coast, call 999 or 112 and ask for the coastguard.”