The Border Force picked up 13 migrants off the coast of Gravelines inside French territorial waters — and took them to Calais on Wednesday as part of a joint rescue operation.
It follows months of diplomacy between London and Paris in a bid to prevent more migrant deaths in the Channel.
Former Prime Minister Rishi Sunak had set up the plan, codenamed Operation Windspire, with French President Emmanuel Macron during a bilateral call several months ago.
Under the proposal, British vessels could enter French waters and rescue migrants if they were in distress. The confidential plan was put into action for the first time in this week's rescue.
An insider told the Daily Express: "It was always planned that this would be done with French co-operation and would not be possible without their buy-in."
Government officials see the first joint operation to rescue migrants as an example of how Sir Keir Starmer's attempt to re-set relations with Europe is already working.
French maritime officials said a total of 59 people were brought on board the French ship PSP Cormoran in the operation, including an unconscious person who could not be revived by the medical team.
A Border Force Ranger catamaran saved 13 people and both vessels took the migrants back to Calais.
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