Lamas, 53, was previously married and divorced four times. He has six children.
The actor proposed to Craig, 24, in February after about three months of dating, UsMagazine.com noted.
E! News said Craig wore a traditional white gown with a long train for Saturday's beach-side service.
Lamas, who is known for his work on TV's "Falcon Crest" and "Renegade," donned white pants, a black long-sleeved shirt and flip-flops for his latest wedding, E! News said.