The people, believed to be from Iran, were found on the boat after Border Force and HM Coastguard were called about 2.30am.
The Border Force vessel and maritime officers were called, helping the migrants ashore.
Those on the boat were given a medical assessment and did not require treatment.
They will now be interviewed by immigration officials.
A HM Coastguard spokesperson said: "HM Coastguard is currently assisting Border Force with an incident in the Dover Channel."
Locals reported hearing a helicopter overhead during the incident.
It comes after four migrants were stranded on an inflatable dinghy in the middle of the English Channel in September last year.
The three men and one woman, aged 27, 30, 35 and 37, are thought to be from Iran and were spotted by a fishing boat in the English Channel.
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