The rescue was carried out late on Sunday morning by two maritime police officers, a member of the Ferragudo lifeguard station, and the Lagoa municipal vet.
They made their way by boat to the rocky area near Caneiros beach, in Lagoa, which could only be reached by sea.
Due to the tricky location, the team had to reach the spot by swimming to it, taking a board with them for the dog.
Due to it showing signs of nervousness and aggressiveness, the medium-size dog, believed to be around one-year-old, had to be sedated and bound so the team could transport it safely to Lagoa municipal kennel.