The wreckage of a US Marines heli-plane that crashed during a training exercise north of Rockhampton on Saturday has been found.

Australian Defence Minister Marise Payne confirmed Australian Navy ship HMAS Melville had found the missing MV-22 Osprey overnight on Sunday, submerged in waters off Queensland. Navy divers were now helping with the US recovery effort.

"The Australian Defence Force has commenced its support to US-led recovery operations following the MV-22 Osprey incident in Shoalwater Bay on Saturday," the statement said.