Two campers have been found after going missing in a remote national park in far north Queensland five days ago.

Cairns men Cameron Wilson, 31, and Caine Whitfield, 21, planned to camp for one night in the Lakefield National Park on Saturday.

The pair, who were in a silver Toyota Hilux, then disappeared with police concerned about their welfare.

An air and land search was launched on Wednesday but searchers failed to find any trace of the men.

However, police said they were found safe and well after being spotted by a private helicopter inside the national park just before 10am on Thursday.