A missing three-year-old boy has been reunited with his family after being found safe and well by authorities following his disappearance from a campsite in the New South Wales Central West region yesterday.

A major police search was launched around 7.30pm last night after toddler James Skillen went missing from a campsite he was visiting with his family for the Easter weekend.

After being reunited, James' family told media the toddler had attempted to catch a ride on a kangaroo while stranded in the bush, thinking the animal would be able to take him home to his parents.

Three-year-old James Skillen, who went missing from a property near Mudgee NSW yesterday, was reunited with his family today after a massive police search. Picture: Supplied. (Supplied)

James was located by members of the public 5km away from the campsite he was visiting with his family for the Easter weekend. Picture: Supplied. (Supplied)

The toddler was last seen at the camp's kitchen before he wandered off into bushland. Picture: Supplied. (Supplied)

Emergency services were called to the area around Razorback, 69km south of Mudgee, when relatives were unable to locate James and concerns were raised about his welfare.

"The three-year-old was found by members of the public around 11.40am today on a public four-wheel drive track," a NSW Police statement said.

"The members of the public contacted Triple Zero to alert search teams.

"The track where the boy was found is approximately five kilometres southwest of where he was last seen. The boy is being flown back to the command post where he will be reunited with family and assessed by NSW Ambulance paramedics."

The toddler was found safe and well despite spending the night in harsh bushland. Picture: Supplied. (Supplied)

Around 150 people were called into the area from Police, RFS, SES and Volunteer search teams to continue the search of 100 acres of land today. Picture: Supplied. (Supplied)

Authorities from the NSW Police, NSW Ambulance, Rural Fire Service, NSW SES and the Volunteer Rescue Association conducted an initial extensive search of the area in the dark but the boy was unable to be located.

In total, around 150 people, including authorities from a police helicopter team, dog squads, water police and divers were called in today to assist in the search of around 100 acres of land in the area.

Superintendent Peter McKenna of the NSW Police today told media the outcome is "an Easter miracle" and said that James managing to travel five kilometres away from the campsite should be considered "incredible".

"What a great result today for this family, for this community and for the emergency services people here today as well," he said in a press conference.

"For myself and all the emergency services here, it is a great sense of relief once we get an outcome like this.

"Any time there's a young child missing, especially overnight, we’re talking rugged bushland, dams, all the things out there that can cause harm, again I just say how thankful we are.

"Children of that age, when we do these searches, are generally found within 1.5 kilometres, so for him to have gotten to that five kilometre mark is extraordinary."

Police helicopters, dog squads, water police and divers were also all contacted to join the search. Picture: Supplied. (Supplied)

The toddler was described as fit and healthy and without any medical conditions. Picture: Supplied. (Supplied)

Authorities conducted an initial extensive search of the area around Razorback in the dark, however James was not located until today. Picture: 9NEWS. (9NEWS)

Mr McKenna also expressed his gratitude to the members of the public who had assisted emergency services in taking part in the search.

"It's really important that we do say thank you to everyone who attributed to this search from yesterday right through to today," he said.

"Some people have been here all night taking part. Members of the community have even brought the emergency services food, tea (and) coffee.

"People just being out there caring - that’s what you find in regional NSW and country people. They care for one another and it's been another great outcome because of that."

Earlier, the terrain James had gotten lost in was described as being harsh and thick with heavy bush cover and "substantial hills and valleys".