Three men who sparked an aerial search after failing to return from a boating trip in far north Queensland have been found safe.

Three men reported missing after failing to return from a boating trip in far north Queensland have been found safe.

An aerial search was launched after the 5.2-metre boat failed to return to Yarrabah from Tongue Reef, north of Cairns, on Wednesday evening.

The trio were found safe and well at nearby Batt Reef and were towed into Port Douglas early Thursday morning, police say.