Ten people feared missing in waters off the Torres Strait Islands have finally made it to shore after their boat was blown off course.

Ten people feared missing in waters off the Torres Strait Islands have finally made it to shore after their boat was blown off course.

The group, which included three children, left Yam Island on board a seven-metre longboat on Sunday morning and were due to arrive at Saibai Island later that afternoon.

Friends and family raised the alarm about 6pm on Sunday after the vessel failed to show.

Police say the occupants stayed overnight at Old Mawata village in Papua New Guinea before completing their journey on Monday.