Four children have been returned home safe and well almost a day after they were abducted in north Queensland, but the man allegedly responsible is still on the run.

Police said the three girls – aged three, seven and eight – and a four-year-old boy had been returned to their home about 9.20am on Friday.

Inspector Regan Draheim said their mother was grateful the children were back home.

“She’s very relieved, obviously, as any parent would be with their children being returned,” Inspector Draheim said on Friday.

“She’s as relieved as anyone would be given the situation.”

Officers are searching for 28-year-old Joshua Carter, who allegedly abducted the children from a rural property at The Leap, north of Mackay, about 11.30am on Thursday.

He has a solid build, a shaven head and a bushy beard with multiple tattoos, including several Joker-themed face tattoos.

Police say people who spot Mr Carter should not to approach him, but to contact authorities.

Mr Carter, who knows the children, was last seen driving them south towards Mackay on the Bruce Highway on Thursday.

– AAP