The 119-metre cargo ship had to use its crane to lift Goodall onboard.
The 29-year-old lost her mast after her boat pitchpoled during the non-stop solo round-the-world race.
An update on her Twitter account said: "ON THE SHIP!!!"
The Chilean Maritime Rescue Coordination Centre later tweeted a picture of Goodall being rescued, adding: "After three intensive days of co-ordinations from MRCC Chile, today at 15:35, the motor vessel Tian Fu was able to rescue the British yachtswoman Susie Goodall."
Goodall, the youngest competitor in the race, said waves in the southern Pacific Ocean were about three to four metres high before the rescue mission.
Conditions were considered too difficult to launch a rib-boat from the Tian Fu, which was diverted to rescue her during its voyage from China to Argentina.
With her mast-less boat pitching up and down in the waves, the plan was for Goodall to manoeuvre her DHL Starlight vessel alongside the moving cargo ship and use a harness to attach herself to a swinging hook.
But after her boat's engine stopped, the Tian Fu's captain had to move his ship to meet Goodall.
Golden Globe founder and organiser Don McIntyre admitted beforehand the procedure would be "tricky".