Christine Weiss of the Martin County Sheriff's Office said a passer-by noticed the couple was in trouble Sunday.
Deputies had to enter treacherous waters just off Jensen Beach, which is north of Palm Beach, Sunday morning as Irma's outer bands hit the coast.
Video shows a Martin County patrol boat manned by deputies John Howell and James Holloran and Detective Mathew Fritchie pulling up next to the boat.
Officials tweeted saying the couple was safely brought back to shore.
The Associated Press contributed to this report.