There were multiple 999 reports of shouting coming from the river on the Kingswear side, near the Lower Ferry.
Both Dart RNLI inshore lifeboats were launched to the scene as the Coastguard UK thought that there was a person in the river.
The ferry crew reported that a man was shouting across the river to his girlfriend on the Dartmouth side of the river and that he was not in the water.
The C/G CRT team arrived and found him safe onshore.
The man was handed over to the police and both boats were stood down and returned to station.