Four children who allegedly drove a four-wheel-drive from central Queensland to NSW have been found safe in Grafton.

Key points: The car was taken from Gracemere, Queensland, and spotted in Glen Innes, NSW on Sunday afternoon

The car was taken from Gracemere, Queensland, and spotted in Glen Innes, NSW on Sunday afternoon Police say one of the boys said he was leaving in a note left for his family

Police say one of the boys said he was leaving in a note left for his family The group took fishing rods and cash with them, reportedly stealing fuel from a patrol station in Banana early Sunday morning

Police said a 14-year-old boy, two 13-year-old boys and a 10-year-old girl took a family member's car from Gracemere near Rockhampton on Saturday night, along with fishing rods and cash.

One of the boys reportedly left a note for his family saying he was leaving.

Police confirmed the children are not all related.

The children allegedly were involved in a fuel-stealing incident at a service station in Banana early Sunday morning.

The vehicle was spotted on Sunday afternoon in Glen Innes, more than an hour's drive from the NSW border.

It takes close to 10 hours to travel from Gracemere to Glen Innes non-stop, with nearly 900 kilometres between the two towns.

Highway Patrol chased the vehicle near Glen Innes, but the pursuit was called off because of the driver's young age.

The Nissan Patrol was spotted in Glen Innes on Sunday afternoon. ( Supplied: Queensland Police )

Acting Inspector Darren Williams said the group was found parked off the Gwydir Highway at Jackadgery, west of Grafton, late Sunday night.

"The children were directed to open the doors to the vehicles [but] they've locked themselves in the car and police have had to use a baton to get into the vehicle to arrest them," he said.

"There will be charges laid in the future and it's just a matter of police having the opportunity to interview those children at a later date."

One of the boys was collected from the station and the rest remain in custody.

Acting Inspector Williams said the group likely shared the driving over the 1,000 kilometre trip to Grafton, where the 14-year-old boy lived.

"It's a pretty big journey, and it's a long way for a young person — I suppose a couple of cans of Red Bull and you're likely to do anything," he said.

The four-wheel drive belonged to the father of one of the children.

Police said the father would fly to New South Wales to retrieve his car and child.