An alleged drunk driver has been charged with manslaughter and other offenses after four children were killed on a pavement in Sydney.

An SUV vehicle struck a group of seven children who were walking on a sidewalk in the suburbs of Oatlands to buy ice cream before 8pm on Saturday, killing four and seriously injuring a fifth.

The alleged driver, Samuel Davidson, was arrested at the scene and remains in custody, said police.

Some 20 charges have been pressed against him, including four for manslaughter, and were read in court on Sunday.

The other charges also included driving under the influence and high-range drink driving, the Sydney Morning Herald reported.

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Davidson did not appear in court and was refused bail until his next court appearance on 2 April.

Three of the children killed were siblings Antony, 13, Angelina, 12, and Sienna, 9. The fourth was the daughter of their father’s cousin, 11-year-old Veronique Sakr.

The children’s brother was taken to hospital in serious condition. Two other girls in the group, aged 10 and 13, escaped with minor injuries.

New South Wales Ambulance Acting Superintendent Andrew McAlpine told reporters paramedics arrived to a scene of “carnage”.

“When the first crews arrived on scene they were met with carnage, a very, very difficult scene with a lot of chaos,” he said.

The siblings’ father, Danny Abdallah, told reporters on Sunday: “I don’t know what to say. I’m numb. All I want to say is: please, drivers, be careful.

“These children were just walking innocently, enjoying each other’s company… and this morning I woke up and I have lost three kids.”

Mr Abdallah added all seven children were related and had been staying at his home before the incident.

“They were all coming over to get babysat. I told them: ‘Just go for a walk, little walk, stay together. You should be OK’,” he said.

Davidson allegedly recorded a blood-alcohol concentration of 0.15 percent, which is three times the legal limit in Australia.

According to police, Davidson had a 24-year-old male passenger who tried to help some of the children. Neither Davidson nor his passenger were injured.

He has not entered any pleas. Manslaughter carries a potential maximum sentence of 25 years in prison.