The pilot, co-pilot, two SCUBA divers and two crew members departed Floyd Bennett Field and spotted the 26-foot leisure boat in just 10 minutes.
The boat had been swept by heavy winds and rough surf on to a rock jetty, about 300 yards out into the water.
65-year-old Timothy Shanahan, Sr. and 22-year-old Timothy Shanahan, Jr. had gone out to fish and were stranded on the boat and unable to get to shore.
NYPD Harbor/SCUBA Detectives Brian Singer and Frank Vitale were deployed via the helicopter's hoist on to the boat, where they were able to reach the men who had been stuck on the jetty for about an hour.
The father was lifted in a rescue basket and transported by helicopter to a waiting ambulance. The son, assisted by Detectives Singer and Vitale, climbed to shore.
Both men were treated on scene and released in good condition.