Police were alerted by a member of the public, who described seeing four men and two women brought ashore on the vessel to the quayside at Bawdsey at around 6.30pm on Saturday.
The group then reportedly got into a black Range Rover which drove off in the direction of Woodbridge.
The vehicle was later found the same day by officers, outside a pub in Bromeswell.
Six suspects were reportedly seen fleeing the area.
Suffolk Police and UK Border Force have launched an investigation and are appealing for any witnesses to come forward.
Two of the men have been described as white. One was wearing a white t-shirt and shorts and the other a red fleece top and was carrying a black bag,
A third man is tanned and was wearing a blue top and dark jeans, while a fourth was wearing a dark or blue coloured top.
One of the women was wearing a pink coloured fleece top, jeans and white trainers, and the other was white with light blonde hair and was wearing a green top.
Anyone with information can call police on 101 quoting CAD 352 of 10 September.
News Source SkyNews