Leo Carillo State Park employees spotted the 30-foot vessel Monday just south of the Ventura County line around 8 a.m., said Virginia Kice of U.S. Immigration and Customs Enforcement.
Authorities initially arrested one man and two others were found later. Two of the detained appeared to be juveniles, immigration and customs enforcement officials said.
"Initially, they were hiding in the brush along the beach and when they saw our personnel coming towards them, they came out and tried to blend in on the beach, but they were detained," said Lt. James Royal with the Los Angeles County Sheriff's Department.
The California Highway Patrol, U.S. Coast Guard, Los Angeles Sheriff's Department, U.S. Immigration and Customs Enforcement, U.S. Homeland Security, Los Angeles County Fire and Los Angeles County life guards responded to the incident.
Several beachgoers caught sight of the panga during their visit.
"It's pretty wild, pretty interesting to think these guys came in and did something like that," Todd Clays said.
"You think (it's) a nice relaxing day on the beach and it ends up being like a CSI episode or something," Theresa Dern said.
Anyone with information about this incident is encouraged to contact Virginia Kice with U.S. Immigration and Customs Enforcement at (949) 360-3096.