The ship's captain spotted the men on a small boat, who appeared to be in poor physical condition, of the coast of Grenada.
A rescue boat was launched from Azura and transported the three men onto the ship. They were then treated by medical staff and were later taken by the local coastguard who towed their boat to Grenada.
Azura was en-route to St Lucia, where it arrived on time this morning.
P&O Cruises marketing director, Christopher Edgington, commented on the rescue operation:
As required both by international maritime law and the duty of all at sea, we have to assist any vessel or seafarer in danger. We commend the actions of Azura's captain and crew, who performed admirably, acting swiftly to save other seafarers.