Footage released by the RNLI shows the children clinging to the pier's stanchions before lifeboat crew edge their small rescue boat alongside the structure and haul the exhausted pair to safety.
The Crown Estate is a public corporation that runs the monarchy's £16billion land and property portfolio, including virtually all of the seabed around the UK
RNLI lifeboat crews and a HM Coastguard helicopter rushed to the scene on Friday evening following a Mayday call from a light aircraft carrying two people.