UPDATE: Missing cavers are found
The three - a male 19 and two females aged 21 - went missing in Boxhead Pot in the Ingleton area.
Lancashire Police said a group of five people had come up from the south and entered a cave network in the area.
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Three members of the group were missing.
It was not known whether they were in the cave or out.
Lancashire Police were liaising with colleagues in Cumbria and North Yorkshire.
But rescuers entered the cave and found the three people, cold but otherwise unharmed.
A Maritime & Coastguard Agency helicopter set out from Caernarfon to assist in the surface search, but was stood down en route.
A Lancashire Police spokesman said: “They have been found safe and well.”