An Irish man who was on the flotilla Global Sumud Flotilla, said there is a sense of relief for those who were onboard but also a "realisation of what has happened".
Tom Deasy said the entire Irish contingent from the flotilla will be travelling home to Ireland together and hope to return sometime tomorrow afternoon.
He said the entire time was hectic and non-stop and that today was the first day they have been able to process events, which he described as "scary".
Speaking on RTÉ's News At One, Mr Deasy said: "Trying to put it into words is probably impossible. We knew there were risks going into it. We knew we would likely face the IOF but the sheer brutality that we witnessed was something that I never thought in my life that I, or anyone I knew, would be put into that position."
Mr Deasy said the Israeli Defence Force showed "aggression" from the moment they intercepted the vessels. He said his boat was the first to be intercepted on Monday.
"I got to the [prison] ship. I got a rifle bashed into my back and that was the first realisation of just how brutal these were. But it only escalated from that point on.
"The sheer violence and aggression used on people for no reason was indescribable," he said, adding that he has a black eye and was punched in the head.
He recalled how the Israelis stripped them of their clothes, exposed them to the cold and after confirming their passport and nationality, took them into a container.
Mr Deasy claimed this is "where the beatings happened", adding that "that is where pretty much everyone on the ship got beaten".
He said the hardest part was listening to all of the beatings.
"It echoed throughout the yard," he said. Mr Deasy claimed that only 10 people said they were not beaten.
Many of the flotilla participants are still dealing with the trauma, he said.
He described getting to fly home to their families as "very reassuring".
"The fact that we came here, in solidarity with the Palestinian people, and the 9,500 Palestinians that are held in captivity that go through that every single day just for being Palestinian. The fact that we knew, there probably will be a hope that we will get out and be released … they have no hope," he said.
"And now they are facing a death sentence. We feel relief for ourselves, but guilt that those people see no end in sight."
Mr Deasy said medical statements of their injuries and any crimes witnessed, including torture treatments were submitted to Turkish people so it is documented in a formal complaint.
"People have to be held accountable, not just for the treatment of us … just because we are westerners. The fact it took to get to this level. That is the most horrific part of it for us," he said.
He said one of the first things he asked was about the vote on sanctions on Israel on Wednesday this week.
"To know that the Irish Government voted not to put sanctions on the Israeli regime, while we were getting tortured in a prison ship, in the Mediterranean Sea, for multiple days … that is just unacceptable for us," he said.
He described it as a failure of all governments, "especially the Irish Government".
"That was the worst news I could have stepped off that plane [to hear]," he said.
Mr Deasy also said the Occupied Territories Bill is a "watered down version of what it originally used to be", adding that it will not make a difference.
