The ship, which had been carrying out routine survey work in the Mediterranean Sea, left Tripoli yesterday and arrived in Malta early today, where passengers were met by staff from the British High Commission in the capital Valletta.
It was the second "assisted departure" carried out by the British government amid the deteriorating security situation.
Since mid-July, Libya has seen deadly clashes between rival militias in Tripoli and in the eastern city of Benghazi.
A total of 110 British and other European nationals, including pregnant women and babies, arrived in Malta on Monday after being evacuated by HMS Enterprise.
Britain has temporarily suspended its embassy operations in the troubled north African country, the Foreign Office said.
