Video footage shows the boat approaching the shore and at least two dozen people jumping off into the shallows before running across the sand.
The migrants, seemingly all young men, dash past beach-goers on their towels as they try to make it off the sands before being caught by authorities.
Some of them even wave to the people enjoying a day out on the beach, who are heard wising them luck, cheering them on and offering them water.
The incident took place on the beach of Fontanilla, in Conil de la Frontera, in the southern Spanish province of Cadiz in the region of Andalusia.
According to local media, authorities detained those who had arrived on the boat, of which 13 were minors, shortly afterwards.
The incident took place two days after another similar incident on a beach located just a few miles north of Fontanilla.
Holidaymakers watched a semi-inflatable carrying around 50 people, including at least 19 children, land on Barrosa Beach, some seven miles from Fontanilla.
Footage shows refugees sprinting up the popular beach at about 3.30pm on Sunday before attempting to scale cliffs.