A yoke mooring system for connecting a floating vessel to a tower structure at sea. The system can include a support structure with one or more extension arms suspended from the support structure. A ballast tank can be connected to the one or more extension arms, and a yoke can extend from and connect to the ballast tank. The yoke can include a tower connector disposed on a second end thereof for connecting to the tower structure. A first winch system can be located on the support structure and connect to the yoke proximate a second end of the yoke via a first line or cable. A second winch system can be connected to the ballast tank via a second line or cable.