Waitoki or "Toki" Hemara was found safe on Sunday afternoon.

The missing four-year-old autistic boy missing in Paeroa has been found safe and well.

Waikato police posted a notice on its Facebook page that staff had concerns for the safety of Waitoki or "Toki" Hemara.

Senior Sergeant Aaron Fraser said the boy went missing about 12.45pm. His parents searched frantically for a few minutes, then notified police at 1pm.

He said the community response had been wonderful - families all over town were out in their cars looking for him.