One had hypothermia, and Police say all three were ill-prepared for 16-degree water.
The Police Eagle helicopter found three kayakers in the water off Maraetai Coast Road on Saturday afternoon, and a crew member went in after them.
Police were first told the three had capsized at about 12.50pm.
Senior Constable Hayden Hall, of the Auckland Maritime Unit, said Eagle was quickly overhead and located the kayakers in the water.
The water temperature was about 16 degrees.
One of the Eagle crew entered the water and stayed with the group for about five minutes while the Police Maritime Unit and Coastguard made their way to the scene.
Hall said it appeared all three were ill-prepared. Two were wearing poorly fitted lifejackets, and the third put one on after being instructed to by the Eagle crew.
He said a coordinated response from Eagle, the Maritime Unit and Coastguard got all three back to shore, and that the kayakers were very lucky given the windy and cold conditions.
Hall said it was a timely reminder that conditions on the water can change quickly, and that even a short time in cold water can be dangerous.
Police have asked anyone heading out on the water to wear a properly fitted lifejacket, check the weather and marine conditions, and tell someone where they are going and when they will be back.
All three kayakers were brought back to shore. One was suffering from hypothermia.
