The group had set off from the same spot in the central city on January 5 in the two boats, powered by 30-horsepower outboard motors, and made the final leg from Waiheke Island today, six days ahead of schedule.
Their trip marked 100 years of surf life-saving clubs in New Zealand.
Speaking to NZPA after an abundance of high-fives and hugs with family and friends, lifeguard Matt Buswell said the crew had been met with warmth and hospitality everywhere they went.
"The people have made this trip. I didn't know what to expect about how people were going to take to us, but everyone's just been so supportive, welcoming and just absolutely 100% behind us wherever we've been in the country."
The trip was not without its hairy moments: their boat was flipped by a rogue wave as they were launching at Birdlings Flat, south of Christchurch, and they were forced to wait out bad weather for two days at Breaksea Sound in Fiordland.
"Can't complain though, it's such a nice spot - and we had a good fish in Fiordland and caught a few blue cod," Mr Buswell said.
The lifeguards were also put to the test when, by a stroke of luck, they were at the remote Oruaiti Beach on the East Cape when a young woman came perilously close to drowning.
The woman, in her 20s, was caught in a strong rip and was 60m offshore when she began going under. Her boyfriend could no longer hold her up and they were both in serious danger of drowning, team spokeswoman Emma Darwen said after the incident on February 4.
She said the team safety manager, equipped only with fins, retrieved the woman with the assistance of rescue boat driver Ash Matuschka.
The successful journey means the lifeguards are the first people to circumnavigate New Zealand in an inflatable craft under 4m long.
Mr Buswell said he felt the epic adventure had been a fitting tribute to the tireless efforts of the country's surf lifeguards.
"Over the 100 years [of] surf lifesaving there have been over 50,000 rescues so it's a tribute to those lifesavers who have put their lives at risk and put their weekends on hold to volunteer at New Zealand beaches."
Muriwai surf lifeguards Ash Matuschka and Andrew Lancaster were joint leaders of the team of six drivers which included Auckland-based Jason Harvey, Blake Ingram and Matt Buswell and Antony Morgan of Papamoa.
