The Lydd and Lee-on-Solent-based UK Coastguard search-and-rescue helicopters also attended the scene, along with an air ambulance.
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The charity also said it is continuing to search for a sixth person still believed to be missing in the water.
Three were in need of urgent medical care at Camber Sands, near Rye, east Sussex, at around 2.15pm, the Maritime and Coastguard Agency said.
A further two bodies were discovered by a member of the public after the tide receded.
Five people who died at Camber Sands on the hottest day of the year have yet to be identified, police have said.
Beachgoers were being urged to stay out of the sea as medics helped the three people.
Richard Tollett, lifeboat operations manager at Rye Harbour, told the Press Association the RNLI received a request to launch at around 8.30pm.
I think that speculation that they were migrants comes from the fact that eyewitnesses have spoken of seeing these men fully clothed.
He said he could not understand how the men had run into difficulties as the sea appeared calm.
“We saw them take up a blanket and then after that we saw them taken in a body bag”.
Gustavo Silva Da Cruz, 19, from Brazil, was one of three men who got into trouble in the water.
He said: “It was such a clear day, the sea was completely flat”.
Camber Sands is a popular destination for beach-goers and Rother District Council provides beach patrols there throughout the summer. “It seems so odd how they got into trouble”.
Three men were pulled from the sea after they got into difficulty in the water in the early afternoon.
Chief Superintendent Di Roskilly said: “This has been an incredibly tragic situation and very traumatic for those who were there on the beach at the time”. The two others, who were not connected to him, included a man aged 35 and his 17-year-old son.
Jack Blair, from Epsom, said: “It was pretty scary”.
It is the second serious incident recently at Camber Sands.
She and her father were knocked into the sea by a large wave amid strong winds at Fistral Beach last Friday.
Britain’s heat wave has come during the school holidays and prompted authorities including the country’s lifeboat charity (RNLI) to issue safety advice.
A woman died on Sunday off Jersey, one of the Channel Islands, the same day a man drowned in the English seaside town of Poole.
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“The lifeboat was stood down by Coastguard at 5.20pm and returned to station”.
