Volunteer RNLI and coastguard rescue teams were called to the emergency just after 9pm on Sunday, October 8.
The 26 foot yacht was recovered shortly after midnight.
A spokesman for the coastguard said: "The team were paged to locate a yacht which had run aground in the entrance to the river Ribble.
"The tied worked in our favour and the vessel was able to get off the training wall with a little assistance from RNLI boats.
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"There were three people aboard the yacht, who were all safe and well.
"If you find yourself in a similar situation, ensure that all the people on board are safe and well and wearing live jackets and call the Coastguard for assistance."