The Maricopa County Sheriff's Office says the passengers, including five below the age of 18, were in the Chevrolet Suburban when it rolled backward around 11 a.m.
Sheriff's spokesman Joaquin Enriquez says everyone was able to get out of the vehicle.
There were no injuries.
Enriquez says the SUV ended up submerged in about 15 feet of water on the west bank of the lake near Castle Creek Cliff.
Authorities towed the vehicle out.
Enriquez says the rough terrain likely caused their SUV to roll back as they were trying to leave. He says no citations will be issued.