Six men and one woman left Dover in Kent early on Saturday and arrived at Cap Gris Nez in Calais, France, 12 hours later.
Each diver spent 30 minutes in the sea before running out of air. They then handed over the baton and refuelled.
One team member from Essex is in his 10th year in remission after being diagnosed with testicular cancer.
'Feel relief'
Organiser Colin Osborne, 44, from Hainault, who founded the Orchid Cancer Appeal charity when he found out he had cancer, said: "It went really well, we had no problems at all."
He admitted that it was harder than expected and said: "We feel relief. It's taken nearly two year's [training] to do it.
"We are going to get back to Dover and go to the pub."
The group raised about £50,000 for the Orchid Cancer Appeal which funds research into the diagnosis, prevention and treatment of testicular, prostate and penile cancer.
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