Martial law was declared almost immediately along with a blackout of Honolulu, Pearl City, Waikiki and the rest of the island. That first night there was a real fear that either an amphibious or airborne invasion could be imminent. And the city itself got some glancing damage from the attack, starting several fires, a few strafing runs, and wreckage as well as stray bombs.

However there were some efforts to aid in the response. The Honolulu Fire Department sent 3 engines to Hickam Field to fight the rampant fires, resulting in the loss of 3 of their members. http://www.hawaiihistory.org/index.cfm?fuseaction=ig.page&PageID=595

As for civilian vessels aiding in the rescue, no it did not happen on a large scale, and not because nobody would have been willing, but because the Coast Guard and Navy kept them out.

The USCG presence was concentrated outside the naval base in Honolulu itself, and following the attack CG-8 a 78ft patrol boat actively took position at the entrance to one of the commercial basins to keep craft from leaving until their ownership and crew could be confirmed. Another larger patrol craft Tiger joined naval vessels in patrolling the harbor entrance, while the Coast Guard also removed or doused all navigational aids in the harbors and channels, along with posting armed guards along the Honolulu water front. https://www.uscg.mil/history/articles/PearlHarborNarrative.asp

Thank you /u/DBHT14