Beachgoers have been left horrified after two naked men were allegedly seen stripping naked before urinating and defecating in the sea at a popular swimming spot.

Residents were looking to make the most of the clear skies at Lamberts Beach in Slades Point, northern Queensland on Saturday but instead saw their relaxation rudely disturbed by the two interlopers.

Witness Lance Payne said he saw the incident transpire from the moment the men got out of their car at the beach - as did a woman and her baby.

Residents were looking to make the most of the clear skies at Lamberts Beach in Slades Point, northern Queensland on Saturday but instead saw their relaxation rudely disturbed by the two interlopers (stock image)

He told The Courier-Mail the two men began removing their clothes while running around the beach.

Mr Payne claimed one of the men started urinating in the ocean before the other joined him and apparently defecated in the surf.

'He walked out to the water pulled his pants down, bent his knees and maintained a position,' he told The Mackay Daily Mercury.

The men's actions turned even more shocking, Mr Payne said, when he suspected one them started to pleasure himself in the surf.

Disgusted by the behavior of the two nude men, who he thought may have been intoxicated by the way they had stumbled through the surf, the witness reported what he saw to police.

But they were left horrified after two naked men were allegedly seen stripping naked before urinating and defecating in the sea at a popular swimming spot (stock image)

Aside from the baby, Mr Payne thinks many other children were at the beach and could also have seen the men's inappropriate behaviour.

Mackay Police said they had filed the report, but given how long after the incident it was lodged it would be difficult to level charges.

Police also said the evidence given about the identity of the culprits was insufficient.