Bryar and Lenyell Blanton, Adrian Poplin and Josh Turner accidentally slid the truck into the mud as they checked out the Washita River in Ardmore, Oklahoma on Friday.
"Me and Adrian started walking down the road [looking for help] and Blake and his dog, Betty, stopped and picked us up in his truck," Bryar told Entertainment Tonight.
Shelton offered to drive the men to the truck but was unable to pull them out, so went to get his tractor instead.
"I was just like, 'Heck yeah!'" Bryar said.
Bryar shared a picture of three of the men posing with Shelton:
Shelton also shared the image of the group together, adding: "No problem.. Now you boys stay outta jail!!! Ha!!!"