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Gravesend RNLI lifeboat was launched this morning to reports a man was in the water at Erith.
While the lifeboat was on route it was confirmed the person was clinging to the bottom of the pier.
When the charity's lifeboat arrived on scene, the crew quickly spotted him and pulled him onto the lifeboat.
The man was taken to Erith Causeway and met by the London Ambulance Service, who then took the man into their care.
An RNLI spokesman said: "It is thought that without the intervention of the lifeboat and the swift action of the RNLI crew, the man would have died."