BOCA RATON, Fla. --

Police said four people were burned in a boat fire in Boca Raton Friday night.

Boca Raton Fire Rescue responded to a report of a vessel on fire near 300 SE Mizner Blvd. in the Intracoastal Waterway at about 9:20 p.m.

The four people swam to shore on their own with burns on their hands and feet, authorities said.

Four people on board a boat that caught fire in Boca Raton escape with only minor burns.

The boat was 40 feet long and was completely engulfed in flames, fire crews said. It continued to burn in the Intracoastal, off the Boca Raton Hotel and Club, as of 11 p.m.

Firefighters battled the blaze from the sea wall and from a Boca Raton Fire Rescue Services marine unit. Despite their efforts, the vessel burned to the water line. Fuel was leaking from the vessel and continued to burn. Fire officials decided to let the remaining fuel burn out.

Haz-Mat crews from Boca Raton Fire Rescue were at the scene, prepared to float booms in the Intracoastal and dyke any fuel that might escape. That did not happen.

The cause of the fire is unknown. The State Fire Marshals Office was called in to investigate the incident.