Two men have survived 24 hours floating at sea after strong currents pulled them kilometres from their dive boat off Queensland.

Dan Fitzgerald and Stu Fillman’s scuba suits are being credited for helping to keep them alive.

The rescue they no doubt believed might never come was caught on camera.

Two men have survived 24 hours floating at sea after strong currents pulled them kilometres from their dive boat off Queensland.© 9News

They spent all day and all night in the deep blue four kilometres from land.

They didn’t have a life raft, only each other, until they were spotted from the sky this morning.

“They were glad to see me, you could see the weight come off their shoulders and go, ‘Thank God you’re here,’” rescue crew officer Alex Carroll said.

The men, aged 43 and 45, had been diving at Flat Rock, north of Point Lookout on North Stradbroke Island, when strong currents pulled them away from their boat.

Those on board raised the alarm yesterday morning when they didn’t return, sparking a multi-agency search for the experienced divers.

They were winched to safety by the Westpac Surf Live Saving helicopter almost 24 hours later in remarkably good spirits and good condition.

They spent all day and all night in the deep blue four kilometres from land.© 9News

Their dry suits are credited with keeping them warm.

Fitzgerald said he was spending time with family after giving them a scare while Fillman sent a message to those who saved them.

“Thank you to our emergency services teams in aircraft, on the water, or on land for turning this into a happy ending,” he said.