An Australian sailor feared to be dead has spoken out about being found clinging onto a water beacon for three hours after his yacht.

As reported by 9News, 64-year-old David Simpson was found two-and-a-half kilometers away from his vessel after getting into trouble off Queensland's Sunshine Coast towards the northern tip of Bribie Island.

When Simpson's yacht was discovered, the motor was still running, but only his Staffordshire terrier, Mitch, was on board. (And fear not, Mitch is absolutely fine.)

More on this incredible tale of survival in the video below:

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Simpson - an experienced saily - revealed how he was knocked from the boat while he was trying to secure a dinghy.

Per 9News, he told the Today show: "The wave hit the side of the boat and I was trying to secure the dinghy which had come a little bit adrift and a rope broke holding the dinghy.

"The dinghy hit me, my ribs and I fell about two-and-a-half, three meters, off the boat."

After finding himself in the water, Simpson was swept away from his boat.

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And after watching his boat and dog drift away, Simpson was able to find a water beacon, where he clung on for dear life for three hours.

Speaking to 9News, Simpson, said: "I was concerned I wasn't going to be around for my family more than anything."

Fortunately, when another boater found Simpson's empty yacht, the alarm was raised and a search was launched by sea and air.

Explaining why he was naked when he was found, Simpson said: "I took my shorts off and was waving them. Maybe that's why nobody stopped - because I was naked. They had a ladder about a meter up and I waited for a wave and managed to put my hands up."

Ian Hunt, commander of the Mooloolaba Coast Guard said Simpson was lucky he found the beacon but added that Simpson was now concerned with getting his boat off the beach.

Featured Image credit: Pexels/Kenneth Carpina

Sailor feared dead is found clinging onto beacon naked after being knocked from boat