Debris has been found in the search for a man and his dog, who are missing after their helicopter failed to arrive on a journey north from the NSW Hunter region.

An extensive land and sea search was underway on Friday, after the helicopter vanished on Thursday.

NSW Police said they had been told the helicopter left Cessnock on Thursday morning bound for Wallis Island, near Forster on the state’s mid-north coast, or for Belmore River, near Kempsey.

A 54-year-old man and his dog were reported to be on board.

The pair failed to arrive at either destination, prompting Friday’s extensive search.

Police and volunteers from Marine Rescue NSW spent the day searching in the Port Stephens area for the missing aircraft. Surf Lifesaving NSW and the Westpac Rescue Helicopter have also been involved.

“The Westpac Rescue Helicopter searched an area of Port Stephens between Yacaaba Headland and Broughton Island and located debris that has been collected by the NSW Police Force for forensic examination,” a Westpac Rescue Helicopter Service spokesperson said.

NSW Police said on Friday afternoon they were examining the debris to establish if it was from the missing aircraft.

In the meantime, the search continued.

Marine Rescue NSW inspector Steve Raymond said a local crew was deployed to help with the search on Friday morning.

“The Marine Rescue NSW boat is now conducting a parallel line search with a Water Police vessel from Port Stephens Heads north to Bennetts Beach,” he said.

Anyone with information is urged to contact Crime Stoppers on 1800 333 000.

The Australian Transport Safety Bureau has been notified.

– with AAP