The 69-year-old man who went missing for almost 24 hours in a croc-infested national park in far north Queensland has been found.

The man was to be taken to the Lockhart River township for medical assessment after he was found about 3pm on Thursday, close to the to the camping ground where he was reported missing.

The Rescue 510 helicopter has been called in to assist with the search. Credit:File/Rescue 510 Cairns

Helicopters were called in to help search for the man when he left his Cape York Peninsula campsite, about 20 kilometres from the Lockhart River, about 11am on Wednesday and had not returned by 5pm.

It was understood the man had been staying in one of the Cooks Hut camping area's six sites, where some of his belongings were found.