An investigation has been launched after the bodies of a man and a woman were found on a boat moored off Cammeray at about 9pm on 31 July.

Emergency services were called to a mooring at Tunks Park, due to concerns for the welfare of two people believed to be on the 47ft yacht.

Officers attached to Sydney Water Police boarded the vessel and found the bodies of a man and a woman, believed to be aged in their 50s or 60s.

Specialist assistance was sought from Fire and Rescue NSW due to concerns about fumes detected on board.

Police have been told the two people were spending Monday night on the boat, with concerns raised when they didn’t return.

A crime scene was established and inquiries commenced by detectives. A number of items have been identified at the scene and will be taken for forensic examination.

A post-mortem examination will be conducted in coming days to confirm the identity of the man and woman, and to determine cause of death, and a report will be prepared for the information of the Coroner.