Cruz, 20, joined his parents mid-trip following a romantic break with Jackie, 30, elsewhere.
Eva Longoria, 50 – a close family friend of the Beckhams – was also spotted on their multi-million-pound vessel with her husband Jose Baston, 57.
The Desperate Housewives actress, who is godmother to Victoria and David’s daughter Harper, was seen relaxing on a sun lounger in a high-leg white swimsuit before greeting Cruz and Jackie.
After settling in, Cruz enjoyed a dip in the ocean with his father, 50, before sharing a sweet embrace while chatting to Victoria, 51.
Fashion designer Victoria looked incredibly elegant in a black lace dress, teamed with a large sun hat.
The couple traded in their £5million yacht for the much bigger vessel last year, and had been pictured on it sailing around Miami.
The impressive looking vessel, understood to be worth £16million, was a significant upgrade on the comparatively modest 100-foot yacht reportedly purchased by Beckham in 2022.
The football legend was said to have ‘treated himself’ to his original vessel in 2022 after being inspired by his maritime jaunts with close friends Sir Elton John and David Furnish – who often holiday at sea.
A source told The Sun at the time: ‘David had a look around some yachts in the summer, and decided to treat himself. He helped design the boat himself, and has been incredibly hands-on with everything.
‘It’s not an oligarch-style superyacht, but it’s still pretty plush by anyone’s standards. He was inspired after holidaying with Elton and David on their boat – and loves life on the water.
‘There will be an area for the kids to snorkel, and the boat will be a brilliant base for the whole Beckham clan to have magical holidays abroad.’
David and Victoria are also away with their other children, Romeo, 22 and Harper, 14.
Victoria gave a rare insight into her feelings about estranged son Brooklyn with a telling social media move.
The former Spice Girl has proved she is still keeping tabs on her eldest son’s moves by ‘liking’ several of his social media facts.
Notably, in the three-weeks spanning July 5 and July 26 – she liked every single one of his posts that didn’t feature Nicola.
All posts in which he was seen with his wife, were not acknowledged by Victoria. It is possible that these posts – four out of the 16 – were simply not seen by her.
Victoria has not liked any of Nicola’s posts in the same time period. Nor have the Lola actress and Brooklyn liked any of Victoria’s.
Brooklyn did, however, open up about the only thing he and wife Nicola argue over amid the ongoing feud with his famous family.
Despite their troubles, the hunk suggested the couple, who wed in 2023, are still very much in the honeymoon stage and only disagree over the thermostat.
He told GQ: ‘By the way, that’s the only argument me and my wife have, the temperature in the room. She loves it’.
‘She runs cold, so she always wants it all hot all the time. I always run hot, and I like to have it a little bit colder, so we meet in the middle.’
It was previously revealed that Brooklyn and Nicola’s Instagram accounts no longer follow his younger brothers Cruz and Romeo in the latest family drama.
However, Brooklyn’s friends told MailOnline that Cruz and Romeo have actually blocked them on the social media platform.
This would make sense given that Brooklyn and Nicola are still following Victoria and David.
Cruz and Romeo were still following Brooklyn and Nicola earlier this month but appeared to take action after Brooklyn posted a birthday tribute to sister Harper, sharing a family photo without them in it – which Nicola reposted.
There was much speculation whether Brooklyn would reach out to Harper on her 14th birthday, but despite him doing so, it seems all is not well in the camp.
Brooklyn’s birthday tribute to Harper marked his first public interaction with his family since he paid tribute to his grandmother Sandra on June 26, despite remaining silent and shunning his father’s 50th birthday earlier that same month.
Sources close to the family have told MailOnline of their fears that Brooklyn and his wife Nicola have also distanced themselves from Harper after they failed to visit her when they flew into London in May to film an advert for French-Italian clothing brand Moncler just over a mile from the family home in Holland Park.
David and Victoria had no idea whether Brooklyn, who Harper has idolised since she was a little girl, would message her privately or publicly on Instagram because they have no communication with him.