Rescuers described the search and recovery operation as "complex", with divers limited to .
In a statement, Italian firefighters said it had been "five days of long and delicate operations in the sea, at a depth of about 50 metres (around 164 feet)."
After reports emerged that the final body had been found, a coastguard vessel which had been at the site of the shipwreck for hours could be seen back in the port.
Meanwhile, a helicopter landed nearby as divers took off their orange suits on the quayside.
A decision on whether to raise the sunken yacht from the seabed is "not on the agenda" but will be in the future, a spokesperson from the Italian Coastguard has said.
The ship was "practically intact" on the seabed, according to divers on the search and rescue team.
Prosecutors are expected to hold a news conference on Saturday morning.