Video has emerged of a giant squid swimming near a pier in central Japan.

The 3.7-metre-long squid was spotted by onlookers at Toyama Bay as it swam under fishing boats for several hours before it was ushered back to open water.

Local dive shop owner Akinobu Kimura told CNN he joined the squid in the water and led it back out to the sea.

"My curiosity was way bigger than fear, so I jumped into the water and [went] close to it," he said.

"This squid was not damaged and looked lively, spurting ink and trying to entangle his tentacles around me."

He said he guided the squid towards the ocean where it disappeared into the deep sea.

The giant squid is thought to grow to up to 13 metres in length and typically inhabits deep waters.

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