A crew from the Windsor station attended the incident in Home Park, Windsor at 11am after reports that a horse had got into trouble in the river Thames close to Windsor Castle.
The Windsor firefighters were assisted by specialist water and animal rescue crews from Reading and Egham to help the stricken animal.
Firefighter Mike Rowley, fire brigade union representative at the Windsor station, said: "The horse was led and encouraged to more calm area of the river where a special holder was waiting to rescue it. We took out a short of the wall of the embankment to help him out."
The horse did not have any injuries and crews left the scene at 12.15pm.