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."
