A 54-year-old man aboard a yacht was in a sticky situation at Eden's Twofold Bay before water police arrived on Thursday to tow him to safety.

The skipper and his dog Chewie were rescued and taken onboard a police vessel while the yacht was taken from the rocks.

"The man was brought back to shore, where he and his trusty sidekick were given towels to dry themselves," the police spokesperson said. "The yacht suffered structural damage."

After being rescued the skipper expressed his gratitude to the police who rescued him and his beloved pet.

"Thank you Eden Water Police, you pulled my boat off the rocks," he said.

"I had given up on it and I thought it was a goner. You've saved our home, for me and Chewie and I'm eternally grateful."