The team joined other blue light services in a dummy response to someone entering the water from Erith Deep Water Pier in Bexley, south-east London – dubbed Exercise Mudlark.
Taking part were personnel from RNLI Gravesend, marine units from the London Fire Brigade and Metropolitan Police, and a helicopter from the National Police Air Service London.
The activity on Thursday 8 June challenged services to work together to save a single casualty jumping from the jetty, in a tidal area with risks including mud and river currents.
Paul Whitehead, HM Coastguard Senior Maritime Operations Officer in London, said: "Exercise Mudlark was an excellent way, in a controlled situation, to test and update our preparedness for someone going into the water, one of the most common incidents we deal with alongside fellow emergency services.
"Regular team training can only improve the speed and efficiency of life saving on the river and develop best practice for on-scene communications and strategies."
He added: "All the staff involved may come from different organisations, but we very much share the mind-set of one team for one purpose: making London’s River Thames a safer place for all.
"Everyone came away from today’s exercise with some lessons learnt or skills honed as well as strengthening the team bond."
Further exercises are planned by London emergency services throughout the year along all sections of the river.
If you see an emergency on the River Thames, call 999 and ask for the Coastguard.
