The bodies of two people have been found after they went missing while prospecting in remote Queensland.

A 65-year-old man and a 69-year-old woman were reported missing on Monday after they failed to return to their caravan in Croydon, 500 kilometres south-west of Cairns.

The pair were last seen leaving a caravan park on Sunday to go prospecting at Esmeralda Station.

A land and air search was launched with the help of State Emergency Service volunteers on foot, mustering helicopters, and police officers on motorbikes and horseback.

A Toyota Hilux belonging to the pair was found at Esmeralda Station with personal items including their mobile phones inside on Monday.

The bodies were found by a helicopter on Wednesday afternoon.

“Police conducted an extensive land and air search over the remote area which sadly resulted in locating the pair deceased,” search and rescue co-ordinator Sergeant Winfried Weiss said.

Police will prepare a report for the coroner.

-AAP