HMAS Darwin came across the men on Saturday, clinging to wreckage after their boat was struck by an unknown vessel and sank.
They claimed to have been adrift for five days in international waters.
"HMAS Darwin launched a rigid hull inflatable boat, provided food, water, minor medical care and safety to the shipwrecked men," Australia's department of defence said.
The ship stayed with the fishermen until a Pakistani vessel, MSS Nusrat, arrived and took them to shore.
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