Two traumatised men stranded for days in a remote area of Australia were forced to live on the roof of their car under punishing heat to escape saltwater crocodiles.

Beau Bryce-Maurice, 37, Charlie Williams, 19, and their dog Mindee were on a fishing trip near the town of Broome when their car became trapped in a bog on Friday.

After the men failed to return home, police launched a massive land and air search operation on Tuesday and found them later that afternoon.

"Obviously in the Kimberley [region] here you've got to watch the crocs and snakes,” Mark Balfour, Broome Police sergeant, told ABC News.

"I believe one of the gentlemen said a croc did come close to their vehicle while they were out there, so obviously they were a bit panicky about that.”

After the crocodile tried to “go for the dog”, the men climbed on top of the vehicle which was covered by high sea tides “on a number of occasions”.

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"They were quite happy to see us and obviously quite upset, crying,” he said.

"Being out there for five days in this kind of country and with the weather being quite hot, I don't know what would have been going through their heads.

Beau Bryce-Maurice, 37, Charlie Williams, 19, and their dog Mindee were on a fishing trip (Facebook/Charlie Williams)

"They were quite fatigued, dehydrated and heat-struck."

The pair recorded video messages during their ordeal as a message to their loved ones and to document what happened.

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Mr Balfour told the BBC that the men had survived by rationing food and water, but had run out of supplies before rescue services arrived.