HMAS Brisbane deployed sea boats and rescued the crew about 20 minutes later.
The air crew received first aid for minor injuries upon their return to the warship.
Commander of the Australian Fleet, Rear Admiral Mark Hammond, praised the swift rescue operation.
“The successful rescue is credit to the devotion to duty and skill of the officers and sailors of HMAS Brisbane,” Rear Admiral Hammond said.
“Their immediate actions ensured the survival of the aircrew, validating the significant training undertaken in the event an emergency of this nature occurs.”
HMAS Brisbane and another Australian vessel HMAS Warramunga continue to search the area for any debris of the aircraft, Rear Admiral Hammond said.
Both warships had been taking part in regional military exercises.
Rear Admiral Hammond said as a precaution, the RAN has temporarily halted flying of its MH-60R Seahawk fleet.