A Royal Caribbean cruise ship crew member was seen waving goodbye with a giant fake hand at the same time a couple on a pier below learned they had missed the boat.

The distraught latecomers were standing on the dock on the Caribbean island of St Maarten as they watched the Freedom of the Seas sail away without them.

Footage posted onto Facebook and filmed from another ship pans up towards the top of the liner to show the staff member gesturing with the giant foam hand, which had 'bye' written on it.

A crew member on a Royal Caribbean cruise ship was spotted waving goodbye with a giant foam hand - at the same time a couple was on the dock having missed the ship

The video shows passengers on both ships noticing the couple, with one person shouting 'they missed it'.

This suggests plenty of people were aware of their situation.

Royal Caribbean said the crew member was waving at staff on another ship - rather than the couple who had arrived late down below on the pier.

'Our crew member was not directing her wave to our guests on the pier. She was waving at our sister ship, Anthem of the Seas, which was also in port and scheduled for departure,' a spokesperson said.

'The gesture was one of respect and nautical camaraderie between crew members. We regret the inconvenience our guests experienced due the late return to the pier. Guests are encouraged to be back by all-aboard time.

'Departure times are routinely announced onboard, posted in shipboard newsletters and at gangways to keep our guests informed at all ports of call.'