Officers aboard the Sausalito Police Department's patrol boat, Marine One, got a report of a disabled dinghy under the Golden Gate Bridge just after 4:20 p.m. Saturday, police said.
Police said high winds were pushing the small boat farther and farther out into the ocean.
The Marine One crew - Sausalito police Officer Brandon Rodgers and Coast Guard Petty Officer Cory Demery arrived on the scene in about five minutes.
The dinghy had drifted about 200 yards west of the bridge into rough seas, police said.
The officers transferred the boaters - an adult, a four-year-old child and two senior citizens - onto the patrol boat and took them to the Golden Gate Coast Guard station.
No injuries were reported.