Two men have been charged over the death of Lynette Daley at Ten Mile Beach in northern New South Wales in January 2011.

Key points: Two men charged over 2011 death of Lynette Daley

Two men charged over 2011 death of Lynette Daley Four Corners investigation into case prompted independent review of DPP decision

Four Corners investigation into case prompted independent review of DPP decision Attorney-General described case of Ms Daley's death as "truly awful"

Ms Daley, 33, died from serious injuries during a camping trip on the beach near Iluka after sex acts were performed on her while she was drunk.

Adrian Attwater, who claimed to be Ms Daley's boyfriend, and his friend, Paul Maris, went on the camping and fishing trip with the victim.

Ms Daley was found naked, bruised, and bloodied and an autopsy later found she died from blunt force genital tract trauma.

Forensic pathologists found her blood alcohol concentration to be dangerously high, 0.352, in the potentially lethal range of intoxication.

Attwater was previously charged with manslaughter and Maris with manslaughter accessory after the fact.

The coroner referred the matter to the Director of Public Prosecutions (DPP), but neither of the men were prosecuted.

Ms Daley's family and supporters had criticised the DPP for not prosecuting the two men.

On Wednesday, police confirmed a 42-year-old man was charged with manslaughter and aggravated sexual assault.

A 46-year-old was charged with accessory after the fact to manslaughter and aggravated sexual assault.

Both are due to appear in Grafton Local Court on August 2.

Four Corners investigation prompted independent review

Police videos shown to Four Corners showed Attwater and Maris describe the events that took place in the back of Mr Maris's four-wheel drive.

The case was reviewed after a Four Corners story aired last month which prompted an independent review of the DPP's decision not to prosecute the two suspects.

Adrian Attwater (L) and Paul Maris have been charged over the death of Lynette Daley. ( Supplied )

Following the Four Corners story, DPP Lloyd Babb SC, last month said he had asked Philip Strickland SC and Belinda Baker to review the decision.

"Given the importance of maintaining public confidence in the administration of justice, I have taken the unusual step of seeking advice from independent counsel," Mr Babb said in May.

"These two very experienced and highly regarded barristers from the private bar will review all the material and provide their advice to me.

"I will then proceed to make my decision and advise the public of the outcome."

The interior of a car which was examined by police at the time of Ms Daley's death. ( Supplied )

NSW Attorney-General Gabrielle Upton said the death of Ms Daley was "truly awful".

"I have spoken to Lynette Daley's family who wanted the matter taken to court," she said in a statement.

"Back in February I asked the Office of the Director of the Public Prosecutions to review the circumstances around Lynette's death and whether it should go to court.

"Court Attendance Notices have been issued to the accused and now it is a matter for the courts."

Ms Daley's stepfather, Gordon Davis, previously said he was very grateful for the coverage of his stepdaughter's story, which brought renewed attention to the case.

"If it wasn't for Four Corners we would have just been swept under the [carpet] ... we owe a lot to them," he said.