Broads Tours Hire Company contacted Yarmouth Coastguard reporting that one of their craft had become stuck under the Vauxhall Bridge on the River Bure.
The family of four, including a boy of 11 and a girl of three-and-a-half from Bexley, Kent, were rescued by the Gorlestone RNLI team on Thursday.
Its lifeboat manoeuvered the cruiser to a safe mooring, a RNLI spokesman said.
The Gorlestone RNLI inshore lifeboat went under the bridge and manoeuvered the cruiser from under the superstructure, whilst leaving the occupants on board, the spokesman said.
The occupants said they had been trying to read a bridge height indicator post, but had been unexpectedly carried under the bridge by a strong flood tide.
Mario Siano, Yarmouth Coastguard watch manager, said: "Hire cruisers are often caught out by strong tides in the area, and becoming stuck under a bridge puts them under great strain that could severely damage and cause them to break up in the strong tides encountered in the area."
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