The Destiny's Child songstress was said to be enjoying an excursion on a private boat, which was part of a commercial tour, on Friday (19 July) and had planned to do some whale watching when the captain lost sight of the ship they were following.
Apparently, the captain was unable to find his way back to shore as his vision was disorientated by six foot waves and fog.
However, after Kelly and her crew were noticed to be missing for some time, coastguards were alerted and they were brought back to safety at Provincetown, Massachusetts.
It is thought the R&B star - who is currently appearing on US X Factor as a judge - was lost at sea well into Friday evening and, according to the TowBoat US Provincetown Facebook page, the boat had ended up 33 miles (53km) north of the New England town.
The Facebook page is also reported to have said that passengers on the stranded boat had been "a little shook up" from their ordeal, as well as "tired".
Despite her whale watching turning into an unfortunate experience, it sounds like Kelly had been having a great time in Provincetown earlier that day.
Posting a couple of snaps from her trip, including one of her enjoying a tasty meal at a local restaurant, Kelly exclaimed: "Loving P-Town!!!!!! The happiest place on Earth!"
All's well that ends well!