A father has reportedly jumped off a cruise ship to rescue his five-year-old daughter after she ended up in the Atlantic Ocean during their voyage.

The frightening incident happened on board the Disney Dream cruise ship, which was on a four-night tour of the Bahamas.

It’s not been revealed how the young girl came off the fourth deck of the massive cruise ship on June 29.

The pair were rescued alive “within minutes” of entering the water and were lucky to be alive, with many such cruise incidents ending in fatality.

Cruise Lines International Association data shows 25 people fell overboard in 2019, but only nine were rescued.

Passengers reported hearing an emergency alarm, which signalled that someone was overboard, according to reports.

“The crew aboard the Disney Dream swiftly rescued two guests from the water,” Disney told CNN.

“We commend our crew members for their exceptional skills and prompt actions, which ensured the safe return of both guests to the ship within minutes.

“We are committed to the safety and well-being of our guests, and this incident highlights the effectiveness of our safety protocols.”

The Disney Dream cruise ship was on a four-day tour of the Bahamas. Photo: AAP

The ship was reportedly returning to Fort Lauderdale, Florida, after a four-night cruise in the Bahamas.

The dramatic rescue was witnessed by other passengers.

“We heard an MOB (man overboard) call over the ship’s speaker,” Janice Martin-Asuque wrote on Facebook.

“A little girl had fallen into the water, and her father jumped in after to save her. Thank God they’re both safe.”

Caitlin Davis heard the cry of “Mr. Mob, Mr. Mob, Mr. Mob, port side, port side, port side,” over the intercom at 11.30am.

Davis and her husband watched the rescue unfold, capturing footage of the “miracle” moments.

“He’s alive, he’s swimming … that’s a miracle. He’s alive, he’s swimming,” Davis said in the clip, before discovering a child was also in the sea.

“My heart dropped, you know, at that moment … I have four kids,” Davis told ABC Action News.

“It was a miracle that it happened the way that it did.”

The story triggered anger on social media, with some people who claimed to be passengers accusing the father of placing his daughter on rail for a photo.